We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

High-performance electric motors and their associated controllers are widely used in motion control applications. Feedback devices are employed to measure position and estimate motor velocity. The control system closes position and velocity loops using these feedback devices. A number of control schemes have been employed in industrial applications including closing a velocity loop within a pos...

The effect of different combinations of response feedback on the performance of active control system on nonlinear frames has been studied in this paper. To this end different feedback combinations including displacement, velocity, acceleration and full response feedback have been utilized in controlling the response of an eight story bilinear hysteretic frame which has been subjected to a whit...

In this paper, we present a novel two-step strategy for static output-feedback controller design. In the first step, an optimal state-feedback controller is obtained by means of a linear matrix inequality (LMI) formulation. In the second step, a transformation of the LMI variables is used to derive a suitable LMI formulation for the static output-feedback controller. This design strategy can be...

stroke is one of the most common diseases among the elderly with high personal and societal costs. in recent years, robotic rehabilitation for stroke has become an active area of research for assistance, monitoring and qualifying the rehabilitation treatments. the key issue needed for improving rehabilitation system is that patient feedback should be taken into account by the robotic rehabilita...

Title of thesis: FEEDBACK CONTROL OF A HOVERCRAFT OVER A WIRELESS LINK Zachary Kulis, Master of Science, 2006 Dissertation directed by: Professor P.S. Krishnaprasad Department of Electrical and Computer Engineering Dr. Eric W. Justh Institute for Systems Research Nonlinear underactuated systems (i.e. systems with fewer control inputs than configuration variables) present significant challenges ...