Abstract-An analog implementation of a control structure with disturbance identification for mechanical systems is presented. This control structure is based on a discontinuous observer that estimates the state and the disturbances in the plant, improving the robustness of the closed loop system which also displays a control input free from chattering. The control structure, built with operational amplifiers, is simple, showing good performance for stabilization, regulation, and tracking objectives. The performance of the circuit is compared with a digital implementation based on a real-time data acquisition card to control a simple pendulum. In addition, the circuit performance is illustrated on an industrial 2-DOF robot.
We present a theoretical result about synchronization in Cartesian-product networks of coupled semipassive systems interconnected through diffusive time-delay couplings. First, for two diffusively time-delay coupled systems, we give sufficient conditions that guarantee the existence of a region S * in the parameter space (coupling strength vs. time delay), such that if these parameters belong to the region, the two coupled systems synchronize. Then, using this region S * and the spectral properties of the Cartesian-product, we derive a method to predict the values of coupling strength and time-delay for which diffusive timedelay coupled systems on Cartesian-product networks synchronize. The obtained theoretical results are experimentally validated using an experimental setup built around electronic circuit realizations of the Hindmarsh-Rose neuron model.
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