A relation between coprlme fractions and the gap metric is presented. USlng this result we provlde some sufficient condi Hons for BIBO robust stabll1za tion for a very wlde class of systems. These conditions allow the plant and compensator to be disturbed simutaneously. K.e.Y words: Robust stabllization; Gap metric; Coprime fraction.

The performance of olivine, dolomite and γ-alumina primary catalysts was evaluated in the continuous tar elimination process which toluene selected as biomass gasification model compound. Iron incorporated into these order to improve their catalytic activity. All experiments were performed a flow fluidized bed micro-reactor, with steam/toluene ratio 4 space velocity (GHSV) 820 h−1, corresponds ...

We distinguish between two types of grasp stability, which we call spatial grasp stability and contact grasp stability. We show via examples that spatial stability cannot capture certain intuitive concepts of grasp stability and hence that any full understanding of grasp stability must include contact stability. We derive a model of how the positions of the points of contact evolve in time on t...