Abstract
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) |
|---|---|
| Pages (from-to) | 1224-1226 |
| Number of pages | 3 |
| Journal | Proceedings of the American Control Conference |
| State | Published - 1987 |
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering