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On a stabilizable implicit control law for a two degree of freedom manipulator

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2 Author(s)
Aguilar I., C. ; Dept. de Ingegneria Electr., CINVESTAV-IPN, Mexico City ; Bonilla E., M.

We propose a simple linear implicit control law for stabilizing the two degree of freedom closed kinematic chain described and shown in Aguilar and Bonilla (1998). It is shown that the closed loop system is asymptotically stable and exponentially stable when the initial conditions are close to the equilibrium point

Published in:

American Control Conference, 1999. Proceedings of the 1999  (Volume:4 )

Date of Conference:

1999

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