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نویسندگان
چکیده
In this paper, a NCGPC (Nonlinear Continuous Time Generalized Predictive Control) is proposed for a single-link flexible joint manipulator. This control is developed by using a property of NCGPC, the demonstration that the selection of particular design parameters, such as control order and predictor order leads to well-known feedback linearization. Simulations are presented in order to illustrate the effectiveness of the approach. Key-Words: Nonlinear control, Predictive Control, Feedback linearization, flexible joint manipulator.
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