A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs - researchr publication

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Marco Mendoza, Arturo Zavala-Río, Víctor Santibáñez, Fernando Reyes Cortes. A generalised PID-type control scheme with simple tuning for the global regulation of robot manipulators with constrained inputs. Int. J. Control, 88(10):1995-2012, 2015. [doi]

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