This paper presents H∞ control problem for input-delayed systems. A neutral system approach is considered to the design of PD controller for input delay systems in presence of uncertain time-invariant delay. Using this approach, the resulting closed-loop system turns into a specific time-delay system of neutral type. The significant specification of this neutral system is that its delayed coeff...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

Alan Macdonald • Luther College • Decorah, IA 52101 USA • [email protected] 01/18/08 A new statement of the second law of thermodynamics is given. The law leads almost effortlessly, for very general closed systems, to a definition of absolute entropy S, a demonstration that ∆S ≥ 0 in adiabatic processes, a definition of temperature, and a demonstration that dS ≥ δQ/T along quasistatic process...