| 摘要 |
A controller for controlling a non-linear mechanical system having a plurality of degrees of freedom, comprises compensation means to compensate the non-linear behaviour of the mechanical system, the controller further comprises a reference model of both a control unit and the linearized mechanical system, and the controller further comprises adaptation means which adapt the compensation means in dependence on a difference between an output signal of the mechanical system and an output signal of the reference model. <IMAGE> |
