Approximate Inverse-dynamics Based Robust Control Using Static and Dynamic Feedback

@inproceedings{SZEPESV1997ApproximateIB,
  title={Approximate Inverse-dynamics Based Robust Control Using Static and Dynamic Feedback},
  author={CSABA SZEPESV},
  year={1997}
}
  • CSABA SZEPESV
  • Published 1997
It is rigorously shown that inverse-dynamics models can be used to stabilize plants of any order provided that the inverse-dynamic model is used in a mixed mode fashion, in that of a `Static and Dynamic' State-feedback (SDS) mode. When the resulting controller is used for tracking increasing the gain of the dynamic feedback decreases the tracking error. Yet another attractive feature of the SDS scheme is that the inverse-dynamics model can be tuned on-line by any adaptation mechanism without… CONTINUE READING