Chapter 5 – Case Studies

In this chapter, some miscellaneous applications of ADRC control are presented. The topics range from robotic systems: nonlinear manipulators of one and two degrees of freedom, controlled by nonlinear motors, to the control of Thomson's jumping ring. The idea is to present a wide range of applicability of ADRC schemes and the underlying ease of actual implementation in laboratory rigs. Some examples are dealt with using Flat Filtering Controllers, a dual alternative to observer-based ADRC controllers.

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