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Thesis

Adaptive control of flexible systems

Abstract:

This thesis reports the successful application of the recently introduced Generalised Predictive Control self-tuner to the high-performance positioning of a real flexible single-link robot arm.

The large amount of experimental time available on this high bandwidth system allowed exhaustive testing of the 'tuning-knobs' and 'design-filters' available to the user for tailoring the closed-loop. Based upon these experiments a coherent philosophy for configuring GPC in practice...

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Institution:
University of Oxford
Department:
Mathematical and Physical Sciences Division

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Role:
Supervisor
Role:
Supervisor
Publication date:
1987
Type of award:
DPhil
Level of award:
Doctoral
Awarding institution:
University of Oxford
Barcode:
602830347
URN:
uuid:d19d44f9-b7db-4b00-95be-4cf897450836
Local pid:
td:602830347

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