{"title":"Review of MIMO Minimal Realization Techniques and Case Study on SCARA Robot Manipulator","authors":"Karim Cherifi, K. Hariche","doi":"10.15866/IREACO.V10I2.10862","DOIUrl":null,"url":null,"abstract":"This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.","PeriodicalId":38433,"journal":{"name":"International Review of Automatic Control","volume":"10 1","pages":"168-177"},"PeriodicalIF":0.0000,"publicationDate":"2017-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Review of Automatic Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15866/IREACO.V10I2.10862","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"Mathematics","Score":null,"Total":0}
引用次数: 2
Abstract
This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.
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