Discrete Time Model The flexible arm has been modelled by an ARMAX type model with delay. validated. ... The block diagram of the control system is shown in Pig. 8. ... -O.132Z +O.87Z (51) The desired transfer function in closed loop has been defined as i -1 with a-0.15 (52) 1-az The open loop response of I. D. Landau.
|Title||:||Robot control (SYROCO '85)|
|Author||:||L. Basañez, Gabriel A. Ferraté, G. Ferraté, George N. Saridis, International Federation of Automatic Control, IEEE Robotics and Automation Council|
|Publisher||:||Pergamon - 1986|