Optimal System Design
The analysis and discussions in the previous chapters show that a minimum phase system allows a much easier control design than a non-minimum phase system. For minimum phase systems feedback linearization is possible and the design of feedforward control
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Robert Seifried
Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design
Solid Mechanics and Its Applications Volume 205
Series Editor G. M. L. Gladwell, Waterloo, Canada
For further volumes: http://www.springer.com/series/6557
Aims and Scope The fundamental questions arising in mechanics are: Why?, How?, and How much? The aim of this series is to provide lucid accounts written by authoritative researchers giving vision and insight in answering these questions on the subject of mechanics as it relates to solids. The scope of the series covers the entire spectrum of solid mechanics. Thus it includes the foundation of mechanics; variational formulations; computational mechanics; statics, kinematics and dynamics of rigid and elastic bodies: vibrations of solids and structures; dynamical systems and chaos; the theories of elasticity, plasticity and viscoelasticity; composite materials; rods, beams, shells and membranes; structural control and stability; soils, rocks and geomechanics; fracture; tribology; experimental mechanics; biomechanics and machine design. The median level of presentation is the first year graduate student. Some texts are monographs defining the current state of the field; others are accessible to final year undergraduates; but essentially the emphasis is on readability and clarity.
Robert Seifried
Dynamics of Underactuated Multibody Systems Modeling, Control and Optimal Design
123
Robert Seifried Institute of Engineering and Computational Mechanics University of Stuttgart Stuttgart Germany
ISSN 0925-0042 ISBN 978-3-319-01227-8 DOI 10.1007/978-3-319-01228-5
ISBN 978-3-319-01228-5
(eBook)
Springer Cham Heidelberg New York Dordrecht London Library of Congress Control Number: 2013943461 Springer International Publishing Switzerland 2014 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. Exempted from this legal reservation are brief excerpts in connection with reviews or scholarly analysis or material supplied specifically for the purpose of being entered and executed on a computer system, for exclusive use by the purchaser of the work. Duplication of this publication or parts thereof is permitted only under the provisions of the Copyright Law of the Publisher’s location, in its current version, and permission for use must always be obtained from Springer. Permissions for use may be obtained through RightsLink at the Copyright Clearance Center. Violations are liable to prosecution under the respective Copyright Law. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absen
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