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5.2 Feedback-Linearization Controllers 271
2. A good knowledge of N which translates into small i ’s.
3. A large µ 1 or a large inertia matrix M(q).
4. A trajectory with a small c, this a small desired acceleration d .
Figure 5.2.2: K p=50, K v=25 (a) errors of joint 1; (b) errors of joint 2; (c) torques of
joints 1 and 2.
The following example illustrates the sufficiency of condition (6) and of the
effects of larger gains K p and K v .
Copyright © 2004 by Marcel Dekker, Inc.
