<svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.1996pt" id="M1" height="15.599pt" version="1.1" viewBox="-0.0657574 -11.3994 17.6499 15.599" width="17.6499pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-77" d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"/></g><g transform="matrix(.012,0,0,-0.012,10.948,4.134)"><path id="g50-50" d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"/></g></svg> Adaptive Fractional Control Optimized by Genetic Algorithms with Application to Polyarticulated Robotic Systems

<div>Evolution of the control input torques versus time of the knee joint.</div>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: <svg xmlns:xlink="http://www.w3.org/1999/xlink" xmlns="http://www.w3.org/2000/svg" style="vertical-align:-4.1996pt" id="M1" height="15.599pt" version="1.1" viewBox="-0.0657574 -11.3994 17.6499 15.599" width="17.6499pt"><g transform="matrix(.017,0,0,-0.017,0,0)"><path id="g113-77" d="M541 160L512 170C485 116 462 88 439 67C411 41 376 35 318 35C272 35 238 37 224 48C207 61 205 85 212 121L290 533C305 611 308 615 391 622L397 650H139L133 622C217 615 221 612 206 533L126 118C111 41 103 34 23 26L17 0H474C489 31 528 124 541 160Z"/></g><g transform="matrix(.012,0,0,-0.012,10.948,4.134)"><path id="g50-50" d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z"/></g></svg> Adaptive Fractional Control Optimized by Genetic Algorithms with Application to Polyarticulated Robotic Systems 