Mixed H2/H∞ method is proposed to design a controller for flexible joint robots (FJR) considering actuator saturation. By considering the control action in the mixed sensitivity function one can reduce the amplitude of the control action but this may affect all frequencies. A more advanced method based on frequency weighting of the control action contribution in the mixed sensitivity function i...

A piecewise quadratic Lyapunov function is developed for the analysis of the global and regional performances for systems with saturation/deadzone in a general feedback configuration with an algebraic loop. This piecewise quadratic Lyapunov function effectively incorporates the structure of the saturation/deadzone nonlinearity. Several sector-like conditions are derived to describe the complex ...

We use data on the deep inelastic structure function F2 in order to constrain the cross-section for scattering a colour dipole off a proton. The data seem to prefer parameterisations which include saturation effects. That is they indicate that the strong rise with energy of the dipole cross-section, which holds for small dipoles, pertains only for r < rs(x) where rs(x) decreases monotonically a...

Saturation of the electron plasma wave amplitude exited by a spatially localized driver and the electron acceleration are studied by means of numerical simulations. The model consists of the Zakharov equations for the electron plasma and ion acoustic waves coupled to the quasi-linear equation for the electron distribution function. The saturation levels of both electron plasma and ion acoustic ...

In the IEEE 802.11MAC layer protocol, the basic access method is the Distributed Coordination Function which is based on the CSMA/CA. In this paper, we investigate the performance of IEEE 802.11 DCF in the non-saturation condition. We assume that there is a fixed number n of competing stations and packet arrival process to a station is a poisson process. We model IEEE 802.11 DCF in non-saturati...

In the classical parking problem, unit intervals (“car lengths”) are placed uniformly at random without overlapping. The process terminates saturation, i.e. until no more can be stowed. this paper, we present a generalization of problem in which with an exponential distribution rate parameter $$\lambda $$ . We show that mathematical expectation number saturation satisfies certain integral equat...