Design of an Error-Based Adaptive Controller for a Flexible Robot Arm Using Dynamic Pole Motion Approach
Figure 2
System responses to a unit-step input with two different locations of poles (i) underdamped case () and (ii) overdamped case (). The desired system response curve initially follows the underdamped curve for large errors and then settles down to a steady-state value (following the overdamped curve) for decreasing errors.
