Showing papers by "Rogelio Lozano published in 1995"
TL;DR: These questions for three different controller design techniques as applied to the problem of global tracking of robots with flexible joints are investigated and the connection between the various controllers is investigated.
202 citations
13 Dec 1995
TL;DR: This paper presents an adaptive controller that will stabilize and asymptotically regulate any continuous-time, linear time-invariant plant, which has one input and one output.
Abstract: This paper presents an adaptive controller that will stabilize and asymptotically regulate any continuous-time, linear time-invariant plant, which has one input and one output. The only assumptions on the plant are observability, controllability and the a-priori knowledge of an upper bound on the plant order. The adaptive control concept combines continuous time state observation and sampled data control with a generalized, plant dependent hold function. The feedback gains and the hold function are adaptively tuned.
5 citations
TL;DR: The authors maintain, however, that Lemma 1 is valid at least in the finite dimensional linear time-invariant (LTI) case, which is the class of systems for which Theorem 1 is applicable.
Abstract: The authors wish to reassure the readers that the main result of the above paper, Lozano and Joshi (ibid., vol. 35, no. 11, p. 1243-45, 1990), i.e. Theorem 1, is not questioned in Marquez and Damaren (1995). The authors state that the commenters only question the validity of the proof of Lemma 1, which was a side result and not the main purpose of the paper. The authors agree that the commenters have a valid point which was overlooked in their proof of Lemma 1.3. The authors maintain, however, that Lemma 1 is valid at least in the finite dimensional linear time-invariant (LTI) case, which is the class of systems for which Theorem 1 is applicable. >
3 citations