Optimal Reference Shaping for Dynamical Systems (eBook, PDF)
Theory and Applications
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Focusing on feedforward control techniques, this book lucidly covers the various algorithms for attenuating residual oscillations that are excited by reference inputs to dynamical systems. It provides a rigorous yet accessible presentation of the theory and numerical techniques used to shape control system inputs for achieving precise control when modeling uncertainties exist. Along with MATLAB code and a suite of real-world problems, the book includes up-to-date techniques for the design of command-shaped profiles for precise, robust, and rapid point-to-point control of underdamped systems.
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