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Tuning Rules for Control of Nonlinear Mechanical Systems
[article]
2020
arXiv
pre-print
In this paper, we propose several rules to tune the gains of Passivity-Based Controllers for a class of nonlinear mechanical systems. Such tuning rules aim to prescribe a desired behavior to the closed-loop system, where we are particularly interested in attenuating oscillations and improving the rise time of the transient response. Hence, the resulting controllers stabilize the plant and simultaneously address the performance in terms of oscillations, damping ratio, and rise time of the
arXiv:2009.03055v1
fatcat:isd3qz7bunh3phi4juxzegla7a