Structured singular values of robotic manipulators and quantitative analysis of passivity based control

Satoru Sakai. Structured singular values of robotic manipulators and quantitative analysis of passivity based control. In 45th IEEE Conference on Decision and Control, CDC 2006, San Diego, CA, USA, 13-15 December, 2006. pages 2961-2966, IEEE, 2006. [doi]

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