The existing formula for the transfer matrix of conical elements assumes constant wave number, which is only valid for sufficiently short conical elements. In acoustic waveguides, the phase velocity, attenuation constant, and hence complex wave number depend on frequency and cross-section radius. As for conical waveguides, the cross-section radius is position dependent, the transfer matrix must...

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...