Feedback interconnected systems: Robots with AC drives

  • Romeo Ortega
  • Antonio Loría
  • Per Johan Nicklasson
  • Hebertt Sira-Ramírez
Part of the Communications and Control Engineering book series (CCE)

Abstract

Throughout the book we have stressed the fact that PBC is compatible with one of the important viewpoints of systems theory that complicated systems are best thought of as being interconnections of simpler subsystems, each one of them being characterized by its dissipation properties. This aggregation procedure has three important implications. First, it is consistent with the dominating approaches for modeling and simulation based on some kind of network representation and energy flow. Second, it help us to think in terms of the structure of the system and to realize that sometimes the pattern of the interconnections is more important than the detailed behaviour of the components. Finally, it is indeed a design-oriented methodology which allows us to isolate the “free subsystems” — sensors and actuators.

Keywords

Torque 

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Copyright information

© Springer-Verlag London 1998

Authors and Affiliations

  • Romeo Ortega
    • 1
  • Antonio Loría
    • 2
  • Per Johan Nicklasson
    • 3
  • Hebertt Sira-Ramírez
    • 4
  1. 1.Laboratoire des Signaux et SystèmesUMR CNRS 014Gif-sur-YvetteFrance
  2. 2.Electrical and Computer Engineering DepartmentUniversity of CaliforniaSanta BarbaraUSA
  3. 3.SINTEF Electronics and CyberneticsTrondheimNorway
  4. 4.Departamento Sistemas de Control, Escuela de Ingenieria de SistemasUniversidad de los AndesMeridaVenezuela

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