SYSTEMATIC DESIGN OF INSTRUMENTATION ARCHITECTURE FOR CONTROL OF MECHANICAL SYSTEMS

The selection and placement of sensors and actuators is an important s tep in the design of controlled systems such as robots and space struc tures with structural flexibility, Essentially all systematic methods proposed in the literature for this design step are only valid for lin ear systems, To overcome this limitation, this paper proposes a new ap proach based on hyperstability, The method is suitable for use with co nventional as well as intelligent and nonlinear control systems. Its a pplication is illustrated in a space robotics example.