{"id":"https://openalex.org/W1555711955","doi":"https://doi.org/10.1023/a:1007920630344","title":"On Robust Control of Flexible Joint Robots Using Describing Function and Sector Bounded Nonlinearity Descriptions","display_name":"On Robust Control of Flexible Joint Robots Using Describing Function and Sector Bounded Nonlinearity Descriptions","publication_year":1997,"publication_date":"1997-09-01","ids":{"openalex":"https://openalex.org/W1555711955","doi":"https://doi.org/10.1023/a:1007920630344","mag":"1555711955"},"language":"en","primary_location":{"id":"doi:10.1023/a:1007920630344","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1007920630344","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5088809135","display_name":"Majid M. Moghaddam","orcid":"https://orcid.org/0000-0002-7249-9096"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Majid M. Moghaddam","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, M5S 3G8, Canada","Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, M5S 3G8, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069757661","display_name":"A.A. Goldenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Andrew A. Goldenberg","raw_affiliation_strings":["Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, M5S 3G8, Canada","Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada#TAB#"],"affiliations":[{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario, M5S 3G8, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada#TAB#","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5088809135"],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.09080689,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"20","issue":"2-4","first_page":"333","last_page":"348"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.679095983505249},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6422162055969238},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5061115622520447},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5054655075073242},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49666935205459595},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4932813048362732},{"id":"https://openalex.org/keywords/harmonic-drive","display_name":"Harmonic drive","score":0.4753786623477936},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4687538146972656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43819981813430786},{"id":"https://openalex.org/keywords/nonlinear-control","display_name":"Nonlinear control","score":0.4293263256549835},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4217739403247833},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.42102450132369995},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.41948816180229187},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35746851563453674},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18705043196678162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12812742590904236},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09447425603866577},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06250548362731934}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.679095983505249},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6422162055969238},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5061115622520447},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5054655075073242},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49666935205459595},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4932813048362732},{"id":"https://openalex.org/C2777105549","wikidata":"https://www.wikidata.org/wiki/Q751500","display_name":"Harmonic drive","level":2,"score":0.4753786623477936},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4687538146972656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43819981813430786},{"id":"https://openalex.org/C91581856","wikidata":"https://www.wikidata.org/wiki/Q2707001","display_name":"Nonlinear control","level":3,"score":0.4293263256549835},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4217739403247833},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.42102450132369995},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.41948816180229187},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35746851563453674},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18705043196678162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12812742590904236},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09447425603866577},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06250548362731934},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1023/a:1007920630344","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1007920630344","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent and Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1628775737","https://openalex.org/W1843163787","https://openalex.org/W1995090200","https://openalex.org/W2042106612","https://openalex.org/W2109090100","https://openalex.org/W2127991665","https://openalex.org/W2145216078","https://openalex.org/W2149463699","https://openalex.org/W2164558651","https://openalex.org/W2180764534","https://openalex.org/W2415006536"],"related_works":["https://openalex.org/W3203516392","https://openalex.org/W3013085049","https://openalex.org/W2285261347","https://openalex.org/W1560496689","https://openalex.org/W1992739770","https://openalex.org/W4386900933","https://openalex.org/W2051667398","https://openalex.org/W4385301946","https://openalex.org/W4297797135","https://openalex.org/W3125672081"],"abstract_inverted_index":null,"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2016-06-24T00:00:00"}