This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

We present a stable and convergent method for solving initial value problems based on the use of differentiation matrices obtained by Lagrange interpolation. This implicit multistep-like method is easy-to-use and performs pretty well in the solution of mildly stiff problems and it can also be applied directly to differential problems in the complex plane.

Exponential integrators have enjoyed a resurgence of interest in recent years, but there is still limited understanding of how their performance compares with state-of-art integrators most notably the commonly used Newton-Krylov implicit methods. In this paper we present comparative performance analysis of Krylov-based exponential, implicit and explicit integrators on a suite of stiff test prob...

We develop a new high order accurate time-discretisation technique for initial value problems. We focus on problems that originate from a space discretisation using high order finite difference methods on summation-by-parts form with weak boundary conditions, and extend that technique to the time-domain. The new timediscretisation method is global and together with the approximation in space, i...