Passive control of a single flexible link

Abstract

It is demonstrated that, for an appropriately chosen output variable, the transfer function for some single flexible links can be considered to be passive. Therefore, by the passivity theorem, using any strictly passive controller with finite gain will result in an L/sub 2/-stable system. One approach to designing such a controller is outlined, and experimental results are presented. The implications of this work are examined and future research issues are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>