Now showing items 1-2 of 2

  • Disturbance decoupling of singular systems via P-D feedback 

    Koumboulis, F. N.; Mertzios, B. G. (1999)
    The problem of disturbance decoupling of singular systems via proportional plus derivative (P-D) feedback is solved. The necessary and sufficient condition for the problem to be solvable is established as a rank condition ...
  • Position control for constrained Robots 

    Koumboulis, F. N. (1999)
    The problem of position control, for robot manipulators constrained to carry a load, is studied. Using a nonlinear P-D feedback law the design requirements of command matching and command following are proved to be always ...