A sampled-data approach for the implementation of nonlinear inverse dynamics (NID) control laws in real time is presented. The control laws developed place the same number of poles as their continuous-time counterparts, take into account the system dynamics in between the sample points, and embed the computational delays associated with the inverse calculations directly into their design.
|Original language||English (US)|
|Number of pages||3|
|Journal||Proceedings of the American Control Conference|
|State||Published - Dec 1 1987|
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering