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On controllability and observability of an n-link planar robot with a single actuator and a single encoder having different configurations

Yannian Liu, Xin Xin. On controllability and observability of an n-link planar robot with a single actuator and a single encoder having different configurations. In 54th IEEE Conference on Decision and Control, CDC 2015, Osaka, Japan, December 15-18, 2015. pages 1477-1482, IEEE, 2015. [doi]

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