System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="271741.fig.009a" src="https://static.hindawi.com/articles/mpe/volume-2014/271741/figures/271741.fig.009a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Position control or compliance control</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="271741.fig.009b" src="https://static.hindawi.com/articles/mpe/volume-2014/271741/figures/271741.fig.009b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Force control</td></tr></table></td></tr></table>

<table>Real experiment setup using NI devices.</table>

Mathematical Problems in Engineering

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Figure 9

Figure 9: System Identification and Embedded Controller Design for Pneumatic Actuator with Stiffness Characteristic 