J. Langer et Id. Landau, IMPROVEMENT OF ROBUST DIGITAL-CONTROL BY IDENTIFICATION IN THE CLOSED-LOOP - APPLICATION TO A 360-DEGREES FLEXIBLE ARM, Control engineering practice, 4(12), 1996, pp. 1637-1646
Citations number
11
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control
This paper presents a procedure for the improvement of identification
results from open-loop experiments by identification in a closed loop
without modification of the identification protocol. Several available
identification algorithms are considered, and two methods for the val
idation of the model identified in a closed loop are introduced. As a
consequence, an improved robust controller is obtained. Results are pr
esented from experiments on a very flexible 360 degrees arm.