{"id":"https://openalex.org/W1497211136","doi":"https://doi.org/10.23919/ecc.2009.7074736","title":"Control of a flexible arm by means of robustified MPC","display_name":"Control of a flexible arm by means of robustified MPC","publication_year":2009,"publication_date":"2009-08-01","ids":{"openalex":"https://openalex.org/W1497211136","doi":"https://doi.org/10.23919/ecc.2009.7074736","mag":"1497211136"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2009.7074736","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5059234416","display_name":"Cristina Stoica","orcid":"https://orcid.org/0000-0002-5838-599X"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Stoica","raw_affiliation_strings":["SUPELEC, Gif-sur-Yvette Cedex, France","SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPELEC, Gif-sur-Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033825178","display_name":"Omar Al Assad","orcid":null},"institutions":[{"id":"https://openalex.org/I189448455","display_name":"General Electric (Spain)","ror":"https://ror.org/04gbh9b75","country_code":"ES","type":"company","lineage":["https://openalex.org/I1332737386","https://openalex.org/I189448455"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"O. Al Assad","raw_affiliation_strings":["GE Healthcare, Buc Cedex, France","GE Healthcare, 283 rue de la Mini\u00e8re, F-78530 Buc Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GE Healthcare, Buc Cedex, France","institution_ids":[]},{"raw_affiliation_string":"GE Healthcare, 283 rue de la Mini\u00e8re, F-78530 Buc Cedex, France","institution_ids":["https://openalex.org/I189448455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066774503","display_name":"Pedro Rodr\u00edguez-Ayerbe","orcid":"https://orcid.org/0000-0001-7452-4155"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Rodriguez-Ayerbe","raw_affiliation_strings":["SUPELEC, Gif-sur-Yvette Cedex, France","SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPELEC, Gif-sur-Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046790755","display_name":"Emmanuel Godoy","orcid":"https://orcid.org/0000-0001-9114-8729"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"E. Godoy","raw_affiliation_strings":["SUPELEC, Gif-sur-Yvette Cedex, France","SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPELEC, Gif-sur-Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107640572","display_name":"Didier Dumur","orcid":null},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"D. Dumur","raw_affiliation_strings":["SUPELEC, Gif-sur-Yvette Cedex, France","SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUPELEC, Gif-sur-Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]},{"raw_affiliation_string":"SUPELEC, 3 Rue Joliot Curie, F-91192 Gif sur Yvette Cedex, France","institution_ids":["https://openalex.org/I102475099"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2229","last_page":"2234"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9984999895095825,"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/T10791","display_name":"Advanced Control Systems Optimization","score":0.9984999895095825,"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":0.9837999939918518,"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/T10821","display_name":"Cardiovascular Function and Risk Factors","score":0.9811999797821045,"subfield":{"id":"https://openalex.org/subfields/2705","display_name":"Cardiology and Cardiovascular Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8239338397979736},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7881639003753662},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5977723002433777},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5912715792655945},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5585341453552246},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5419621467590332},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5263558626174927},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5174623131752014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4647013545036316},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4598759710788727},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4537102282047272},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3911815285682678},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3351612687110901},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32701191306114197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30504900217056274},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2498815655708313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23134464025497437},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16298836469650269}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8239338397979736},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7881639003753662},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5977723002433777},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5912715792655945},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5585341453552246},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5419621467590332},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5263558626174927},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5174623131752014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4647013545036316},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4598759710788727},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4537102282047272},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3911815285682678},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3351612687110901},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32701191306114197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30504900217056274},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2498815655708313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23134464025497437},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16298836469650269},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/ecc.2009.7074736","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2009.7074736","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 European Control Conference (ECC)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00417678v1","is_oa":false,"landing_page_url":"https://centralesupelec.hal.science/hal-00417678","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ECC'09, Aug 2009, Budapest, Hungary. pp.2229-2234","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W115236981","https://openalex.org/W1976410223","https://openalex.org/W2133633565","https://openalex.org/W2161619045"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W3202234113","https://openalex.org/W4388311650","https://openalex.org/W5922282","https://openalex.org/W2101188133","https://openalex.org/W1974056099","https://openalex.org/W4245343541","https://openalex.org/W2386077341","https://openalex.org/W563589758","https://openalex.org/W62490179"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,10,30,37,40,44,47,81,109],"application":[4],"of":[5,14,39,43,46],"advanced":[6,51],"control":[7,38,52],"techniques":[8],"to":[9,79,85],"main":[11],"axis":[12],"movement":[13],"a":[15,23,66,93],"4-axis":[16],"strongly":[17],"non-linear":[18],"cardiovascular":[19],"robot,":[20],"more":[21],"precisely":[22],"flexible":[24,86],"arm.":[25],"Measurements":[26],"are":[27,54],"taken":[28],"on":[29,36],"motor":[31],"shaft,":[32],"consequently":[33],"involving":[34],"difficulties":[35],"load":[41],"because":[42],"flexibility":[45],"mechanical":[48,87],"chain.":[49],"Two":[50],"strategies":[53],"further":[55],"compared:":[56],"an":[57],"off-line":[58],"robustified":[59,110],"Model":[60],"Predictive":[61],"Control":[62],"(MPC)":[63],"technique":[64],"and":[65,102],"state-feedback":[67],"linear":[68],"quadratic":[69],"(LQ)":[70],"control.":[71],"The":[72,96],"LQ":[73],"controller":[74],"is":[75,92,105],"designed":[76],"in":[77,108],"order":[78],"damp":[80],"resonant":[82],"modes":[83],"due":[84],"structure.":[88],"Its":[89],"robust":[90,97],"stability":[91,98],"posteriori":[94],"verified.":[95],"under":[99],"both":[100],"unstructured":[101],"polytopic":[103],"uncertainties":[104],"explicitly":[106],"considered":[107],"MPC":[111],"synthesis.":[112]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}