Linear decoupling controllers for constrained dynamic systems

DOI10.1080/00207179408921483MaRDI QIDQ4311332zbMATH OpenOpenAlexFDO

Authors Kamran Iqbal, Hichem Kallel, Hooshang Hemami

Publication date 26 October 1994

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179408921483

zbMATH Keywords

holonomic constraintslinear decoupling controllersnoninteracting and disturbance decoupling

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Cites work

• Algebraic design techniques for reliable stabilization
• An analytic determination of the (A, B)-invariant and controllability subspaces
• Computation of supremal (A,B)-invariant and controllability subspaces
• Decoupling and Pole Assignment in Linear Multivariable Systems: A Geometric Approach
• Decoupling of linear systems by dynamic output feedback
• Design of decoupled control systems A frequency domain approach†
• Linear feedback decoupling--Transfer function analysis
• Linear multivariable control. A geometric approach
• Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane
• Necessary and sufficient conditions for decoupling using output feedback
• Stability of planar biped models by simultaneous pole assignment and decoupling

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