A new approach to robust performance problems is proposed in this paper. Theapproach involves the optimisation of so-called performance weights subject to aconstraint, formulated in terms of the structured singular value, which ensures theexistence of a stabilising feedback compensator that achieves robust performancewith respect to the optimised performance weights and an u...

In this note, inspired by the proof of the Kirillov–Reshetikhin conjecture, we consider tensor products of Kirillov–Reshetikhin modules of a fixed node and various level. We fix a positive integer and attach to each of its partitions such a tensor product. We show that there exists an embedding of the tensor products, with respect to the classical structure, along with the reverse dominance rel...

Relying solely on virtual springs and dampers, the transparency of standard virtual coupling suffers from the device-proxy coordination error when a large interaction force is engaged (e.g., contact tasks) and also from the unmodifiable inertias of the haptic device and the virtual proxy. To overcome these limitations, we propose a novel virtual coupling scheme, which, utilizing passive decompo...