This paper considers the use of Sliding Mode Control to perform robotic welding. The arc welding model is considered as a distributed parameter system described by partial differential equations with unknown boundary conditions. Simulations with temperature distribution surface plots are also included.
There exists a class of systems that is characterized by having a so called regular cellular structure or homogeneous interconnection. In this note, the bilateral Z-Transform is used to obtain a mathematical model parametrized by z and it is shown that the stability properties of the system can be more easily investigated by a simple test applied to the parametrized model. The analysis is illustrated via three examples: the heat equation, the Euler-Bernoulli beam, and decentralized control of a countably infinite string of interconnected mass-spring-damper systems.
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