Robust Control Approaches for a Two-Link Flexible ... - Pierre Apkarian

approaches to control law design.ба number of different nonlinear tech- ..... conservative for three reasons ¢ that ¢ is treated as a complex number, that.
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10

2

10

0

10

−2

10

−4

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10 frequency (rad/s)

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0

2

10 10 10 frequency (rad/s)

10

−2

0

2

10 10 10 frequency (rad/s)

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angle (deg)

angle (deg)

angle (deg)

Design #1 2

2

2

1

1

1

0 0

10

20

0 0

10 20 Design #2

0 0

2

2

2

1

1

1

0 0

10

20

0 0

10 20 Design #3

0 0

2

2

2

1

1

1

0 0

0 0

0 0

10

20

10

20

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10 20 time (sec)

10 20 time (sec)