Stability and Convergence Analysis of Direct Adaptive Inverse Control

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/complexity/volume-2017/7834358/figures/7834358.fig.001a.svgz" name="7834358.fig.001a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Right inverse</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/complexity/volume-2017/7834358/figures/7834358.fig.001b.svgz" name="7834358.fig.001b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Left inverse</td></tr></table>

Complexity

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Figure 1

Figure 1: Stability and Convergence Analysis of Direct Adaptive Inverse Control 