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

Figure 13

The variation of the damping ratio 𝜁(𝑡) with respect to the system error as a function of time. The value of 𝜁(𝑡) changes from a low value, 𝜁(𝑡)=0.221, to a high value, 𝜁(𝑡)=1.