Abstract
The main objective of this paper is to describe the design of a state feedback controller with integral action based on a proportional integral observer with Takagi-Sugeno structure, for trajectory tracking of a rehabilitation routine applied to a knee rehabilitation robot. The stability analysis of the controller is addressed by Lyapunov, a constraint is applied to the controller input.
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Schedule a callMore From: Memorias del Congreso Nacional de Control Automático
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