Abstract
This paper deals with identification and real time model based adaptive control of a special class of nonlinear systems. The identification and controller design procedure is presented on the example of a two degree of freedom robot arm and consists of three steps. In the first step a not too precise controller is designed and the robot is derived along a special path covering the full workspace. In the next step the functions of the dynamic model are identified by using LS method and the samples collected in the previous step. In the third step the models are re-sampled and simpler and precise models are generated, which are used in adaptive control.
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