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

Figure 12

The variation of the bandwidth of the controlled system. (a) 3D sketch of the variation of the bandwidth with respect to the frequency at each time interval, (b) the bandwidth at 𝑡=0 (sec), (c) the bandwidth at 𝑡=0.05 (sec), and (d) the bandwidth at 𝑡=0.5 (sec).

(a) Bandwidth, 𝜔_BW(𝑡)

(b) 𝜔_BW(0)≈70𝐻𝑧

(c) 𝜔_BW(0.05)≈32𝐻𝑧

(d) 𝜔_BW(0.5)≈18𝐻𝑧