Nonlinear Quadratic Stochastic control is applied to a position servomechanism. A method for estimating the maximum sampling time of a digital implementation of the technique is given. Additionally, a technique for improving on Gaussian statistics is shown. Non-Gaussian statistics are especially useful for the precise control of servomechanisms with granular nonlinearities such as coulomb friction and backlash.
Issue Section:
Research Papers
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Copyright © 1990
by The American Society of Mechanical Engineers
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