Robotics application of symbolic design and modeling
DOI:
https://doi.org/10.23877/MS.TS.18.015Keywords:
control law synthesisAbstract
This paper is devoted to the problem of the design procedure automatization for nonlinear control systems on the basis of symbolic computations and such well-known technique as exact linearization via nonlinear feedback. Developed software realizes the synthesis of control laws in symbolic form that is convenient for further analysis, modelling, and practical implementation of the system. Examles of the software applications to induction motor and robot manipulator are given and discussed.
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