Professional Documents
Culture Documents
SLWN2001 1
SLWN2001 1
!"
! "#
6
2
0
2 -70 %&8 -70
.
9 2
0 5 . -
2.0 (: -70
.
! "
#
#
$
%
$
&
$
'
( )* + , -./
0
1
$ $
#
$
2
3
2
3
1
4
5
&
6
#
4
4
$
$
&
#
'
1
8!
1
% % )*. (1
8/
'
9
6
5
#
5
6
:
6
'
6
<
<
(1
=/
!
/
>
/
$ >
/
=
1
=! ?
0
1
;
0
' )*. #
5 '
'
@
<
@
<
@
<
A
B
<
B
<
B
<
A
<
<
<
C D
A
A
A A
A
A
A
A
A
A
D
E
(=8/
A
F
'
<
C D
D
C
C
C A A
C A A A
C
C A
6
8
D
=! H
F
(/
(/
(/
(/
(/
($/
($/
($/
I
F
I
==E
(8J
/
(8J
/
(8J
/
(H/
(H/
($ /
($ /
(H/
D*
DG
DE*
D8,8
D=G*
E=*
8-D
($ /
DK*G
(H/
($ /
D88+
($ /
($ /
D*E*
(H/
(H/
(H/
8D
=E= 8D
,,D 8D
($ /
K *G
9
'
88GK
88GK
D--KG
8D
+8+ 8D
=GD 8D
G-D 8D
= 8-
D
D
8D
E-+ 8D
+ -*
ED+=
=+DD
.
C )
< .
<B
<
=
% &
" #
9
8*L
>
=DL
*
H
C M (8 A
/ C 8 = E
C D8*
8 8 C 8 = E #
M
C M A
N
M
M
M
M
M A M
M M
M
M
M M
M A M A M M M M
M
M
M
M M
M A M
M
D
C D M
D
H
M
N
D
C D
D
D
D
O
;
C M
E
M N ( A M N / M
E
;
1
(;1/
C ( N / C A N (
M
M
C
C
N /
C M
C M
M M
M M
;
A
C D=
CD=
/
/
C ( M A M /(8 A
C ( M A M /(8 A
8
8 #
C
M (8 A /
C D=
8
M
M A
M A
M
M
M
M
M
M
M A
M A
M
A
M
M
D
N C
M A (
M A
M /
M A
M /
(
M A
M /
(
M
M
A(
A
/
M A
M /
(
M
C D
C M A
N
C
( M A M /
( M A M /
N
M A
M /
(
( M A M /
M
M
M A
M
N
( M A M /
D
N
C M AN
N C
M A
M /
(
M A
M /
(
D
D
D
D
D
D
D
;1
( N / C A N (
+
N /
C D
C M
D
C
C
M
1
E! 9
$
;1
N
6
N
1
E
'
@
<
C
C
C
M
M
M
M
D
B
M
<
N
N
( A A </
C ) .
C <
C<
&
B B B
B B B
B
C<
@
C<
#
$
C )< <
< .
<
(<
< /
(<
< /
C ) .
C
<
C
D
D
#
'
B
B
B
B
B
B
C
C
C
C
C
C
C
B
<
M
M ( A A </
P
; '
;
;
; =
;
<
=
'
=
=
=
=
'
'
'
'
=
*
*
=
'
'
'
'
'
'
=
=
< >
'
'
>
<
'
"4.4)
<
'
=
<
=
=
'
=
'
=
=
=
=
<
=
=
<
'
<
'
'
'
#2
*
* #* #
3@
8D
'
"4.:)
<
<
<
'
=
=
'
'
0 2
? 0
*
'
=
=
'
*
?
> <
>
'
'
>
*
*.
7 *
*
<
<
A
A
2
= < 'B = < '''&
= < '44& = < ''':
*
2 'C
*
10
10
Magnitude
Magnitude
10
10
10
|Gnom(j)|
|Gnom(j)|
|G(j)|
10
10
|G(j)|
10
10
10
10
10
10
Frequency (rad/s)
10
10
Frequency (rad/s)
1
G!
'
*
F ") ")
")
" )
F ") ")
")
" )
D
*
@
&
*
?*
88
10
10
Magnitude
10
Magnitude
10
10
10
|Wm(j)|
|(G(j)G
(j))/G
nom
10
10
|Wm(j)|
|(G(j)G
(j)|
nom
10
10
10
(j))/G
nom
10
(j)|
nom
10
10
Frequency (rad/s)
10
10
Frequency (rad/s)
1
*! #
# 7 *
.
#
<
3
*
*
* #
* 0 2.
*
"4.()
< >
"4.&)
'
'
'
'
'
'
'
> <
'
'
'
<
'
*
<
'
#2
* #* #
3@
1
K!
# (
#
2 *
*
7
*
0
*#0
")
* .
* 2
#I2
7*
*
<
?
*
*
* .
#I2
D
"(. )
. #I2
* ?*
2
#J
.
><
>
'
'
'
>
'
'
'
>
"(.:)
*
# <
>)
"
*
**
#I2
" A )
" A )
8E
"(.4)
1
+! :
*
2 *
*
* # >0 J
*
. ? >
0 #
*7
*
"(.:)
*
#
* > .
#I2 D
* #
0 #
>.
*
*
K 2
7
*E
D
D
*.
*
#2
*
0 *
*
0
#
#
> > 0
#* *
#
*
#* * ?*
2
?
*
" A "
>) )
#
.
2
") <
")
'
'
'
" )
'
'
'
")
'
" )
") < ' ")
# *E #
* #
* .
!"
3
*
# ")
?
0 ?
0
*
*
* #
>
*7
*
>
/<
>
'
'
>
/ > / B B
8 !" : #$%& ' $#( L
>
2 *
*
.
* # > 7
#0
*
*
*
#I2
) .
*
#I2
10
MIXED MU
10
10
10
10
10
10
10
10
FREQUENCY (rad/s)
1
,! 1
'
10
10
10
6
*
*
0 #J
#
*
0 D
G' H0
*
2
G:H 7
*
MIXED MU
10
10
10
10
10
10
10
FREQUENCY (rad/s)
1
-! 1
'
10
10
10
MIXED MU
10
10
10
10
10
10
FREQUENCY (rad/s)
1
8D! 1
'
10
10
10
E! "
*
? 2 )
:&
:%.BB(8
&$
:.'8'$
'.$8 '
5 0 )
" J
2
)
J ?7
#*
.
2 *
*
0
#
*
8K
. D
)
@
B0 $
* '0
2. *
?
2
)
# 4.
#
# *
?
2
) D
'.$8 '
#
#
2*. 7
#
* % * .
mu
10
10
10
10
10
10
Frequency (rad/s)
10
10
1
88! "
D
*
2
#
#
@
*
#
>
.
@
:
*2*
#
)
*
*E
.
K
D
. +
2 E
D
0
*
D
.
D
* #
@
4
* (0 2.
* 2 #
#
#
7*
'$8
8+
'
ROBUST STABILITY
10
10
mu
10
10
10
Total uncertainty
Actuators uncertainty
Inertial moments uncertainty
Friction coefficients uncertainty
10
10
10
10
Frequency (rad/s)
10
10
1
8=! :
NOMINAL PERFORMANCE
10
10
10
10
10
10
Frequency (rad/s)
1
8E! H
10
10
+ #
* #20
#
* # )
% *
2 *
. 0 2
* *
*
.
8,
ROBUST PERFORMANCE
mu
10
10
10
10
10
10
Frequency (rad/s)
1
8G! "
10
10
10
10
10
10
10
10
10
10
10
10
10
10
10
Frequency (rad/sec)
10
10
1
8*! 1
'
8-
@
& D
?
2
*
*
*
* *
. D
' " D
#
*
* .
0
ROBUST STABILITY
10
mu
10
10
10
10
10
Frequency (rad/s)
10
10
1
8K! :
10
10
10
10
10
10
10
10
1
8+! :
*
*
* *
* *
*
#.
=D
10
10
10
10
10
10
10
10
1
8,! :
@
80 %
* B #
#0
* #
0
20
*
* *
* *
D
.
7
#
*
*
.
, !
@
$
* )
*
< : 4
* J ? < :.
#
#*
*
* .
=8
0.04
0.02
0.02
0.04
5
Time (secs)
10
1
8-! :
0.2
0.15
0.1
0.05
0.05
10
Time (secs)
12
14
16
18
1
=D! :
20
- #
0 *
#
2 *
*
)
*. *
*
#I2
*
#
#
*
#
D
. @
0 * *
*
* )
0
==
0.06
0.04
y3 (rad)
0.02
0.02
0.04
0.06
5
Time (secs)
10
1
=8! Q
0.25
0.2
y3 (rad)
0.15
0.1
0.05
0.05
10
Time (secs)
12
14
16
18
20
1
==! Q
*
* *
% &. *
*
*
*
.
*
0
*
2
)
*
*
* *
#?
*
*
* )
.
?
#
=E
*
*
.
#
G H ,.N. 0 N.. 60 1. ,2 0 . *
* . -. )
0
+
.0 $$B.
G:H N.. 6.
.
!0 60
$B:.
% ! &. " !0 . :: B:::40 6# $B8.
G(H 1. @
0 1. 1I
* 1. 1
. "!
' #
. ( )( 0
$B(.
G&H 1. @
0 . !
* . !
.
#
' #
. ( )(
0
0 .
G8H N.3. 3
0 .
* 6.+. ,
. )
$ *
! )
. 0
$$4.
0
&% % 0 $$'.
$$$.
=G