Abstract
Presents a strategy for stability analysis of a feedback controlled flexible arm without truncation. The unconstrained modal analysis method is used to derive a set of infinite dimensional ordinary differential equations (ODEs) with rigidity-flexibility decoupled. Based on this set of ODEs, matrix factorization and its relevant techniques are employed to analyze the closed-loop stability of the system under feedback control. Several common feedback controlled systems were studied. Validation through comparative and experimental studies is presented.
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