Search results for "Linear systems"

showing 2 items of 52 documents

Computational aspects in checking of coherence and propagation of conditional probability bounds

2000

In this paper we consider the problem of reducing the computational difficulties in g-coherence checking and propagation of imprecise conditional probability assessments. We review some theoretical results related with the linear structure of the random gain in the betting criterion. Then, we propose a modi ed version of two existing algorithms, used for g-coherence checking and propagation, which are based on linear systems with a reduced number of unknowns. The reduction in the number of unknowns is obtained by an iterative algorithm. Finally, to illustrate our procedure we give some applications.

reduced sets of variables and constrainsCoherent probability assessments propagation random gain computation algorithmsSettore MAT/06 - Probabilita' E Statistica MatematicaChecking of coherencerandom gainpropagationChecking of coherence; computational aspects; propagation; linear systems; random gain; reduced sets of variables and constrainslinear systemscomputational aspects
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On the Stability of the Soft Pendulum With Affine Curvature: Open-Loop, Collocated Closed-Loop, and Switching Control

2022

This letter investigates the stability properties of the soft inverted pendulum with affine curvature - a template model for nonlinear control of underactuated soft robots. We look at how changes in physical parameters affect stability and equilibrium. We give conditions under which zero dynamics corresponding to a collocated choice of the output is (locally or globally) stable or unstable. We leverage these results to design a switching controller that stabilizes a class of nonlinear equilibria of the pendulum, which can drive the system from one equilibrium to another.

soft roboticsControl systemsControl and OptimizationStability criteriaGravityRoboticsEmerging control applicationsSettore ING-INF/04 - AutomaticaPotential energyTorqueControl and Systems EngineeringStability of nonlinear systemsRobotsEmerging control applications stability of nonlinear systems robotics.
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