@inproceedings{bd6cb24eca1f4b11b719d0a9bad46981,
title = "On I/O and lyapunov stability in robot models with state and output contrllers",
abstract = "This paper considers some control aspects associated with the synthesis of simple output controllers (with constant feedforwards) in set-point regulation tasks of n-degrees of freedom rigid and flexible-joint robots. We show that global asymptotic stability of the systems under consideration implies local exponential stability, and hence a small-signal Lp stability.",
keywords = "L stability, Lyapunov stability, Output-feedback",
author = "A. Ailon and M. Gil and Choi, {E. S.}",
year = "1997",
month = apr,
day = "8",
doi = "10.23919/ecc.1997.7082148",
language = "English",
series = "ECC 1997 - European Control Conference",
publisher = "Institute of Electrical and Electronics Engineers",
pages = "525--530",
booktitle = "ECC 1997 - European Control Conference",
address = "United States",
note = "4th European Control Conference, ECC 1997 ; Conference date: 01-07-1997 Through 04-07-1997",
}