Mathematical Problems in Engineering / 2020 / Article / Fig 1

Research Article

Robust Model-Free Control for Robot Manipulator under Actuator Dynamics

Figure 1

Block diagram of the i-PDSMC. (a) Block diagram of the i-PDSMC system. (b) Block diagram of the i-PDSMC structure. (c) Block diagram of the i-PDSMC discontinuous term.
(a)
(b)
(c)

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