Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach

Figure 11

The sketch of motions of dynamic poles and zeros of the system with a compensator and an E-BAC (×: poles, ◯: zeros).

(a) The dominant poles are moving from initial position 𝑔_3,4(0)=−10.24±𝑗45.14 to final position 𝑔₃(0.5)=−37.9557 and 𝑔₄(0.5)=−19.2109, respectively. This dynamic pole motion causes the system response to become from underdamped response to overdamped response

(b) 3D sketch of the dynamic poles and zeros motion of the controlled system. The location of the dynamic poles and zeros is a function of the system error