Summary
A finite effect sequence (FES) is a good input signal to verify agreement between a linear plant and its model. The FES theory is reviewed, the influence of nonlinearities in the plant is studied and their influence on the test is reduced by a modification of the FES. Practical problems arising in the application to a robot arm are discussed and recommendations for further investigations are given.
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References
Ackermann, J.: Sampled-data Control Systems, Berlin: Springer 1985
Wirth, P.: Modelltest mit Folgen endlicher Systemantwort Diploraarbeit TU Munchen 1988.
Türk, S.: Dynamische Robotermodelle am Beispiel des Manutec R3, DFVLR-Mitteilung 1988.
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© 1989 Springer-Verlag Berlin Heidelberg
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Ackermann, J., Wirth, P. (1989). Model Verification by Experiments with Finite Effect Sequences (FES). In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_1
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DOI: https://doi.org/10.1007/978-3-642-83581-0_1
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83583-4
Online ISBN: 978-3-642-83581-0
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