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Dynamic compensation and decoupling for systems of uniform index 2

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3 Author(s)
Bavarian, B. ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; Hemami, H. ; Wyman, B.F.

A procedure for the design of an n-dimensional dynamic compensator for arbitrary pole placement for systems of dimension 2n and uniform controllability and observability indexes 2 is considered in state space representation and frequency domain. The design together with a minimal dimension dynamic compensator and Luenberger observer was applied to a two-link nonlinear biped n = 2 model in the vicinity of the vertical stance to test the effectiveness of their regulating actions.

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Automatic Control, IEEE Transactions on  (Volume:30 ,  Issue: 1 )