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http://dx.doi.org/10.5573/ieek.2013.50.11.171

Comparison of Routh-Hurwitz and Absolute Stability Criteria in Application to Scaled Telerobotics Systems  

Gaponov, Igor (School of Mechanical Engineering, KoreaTech)
Cho, Hyun Chan (School of Electrical, Electronics and Communication Engineering, KoreaTech)
Jeon, Hong-Tae (Dept. of Electrical and Electronics Engineering, Chung-Ang University)
Publication Information
Journal of the Institute of Electronics and Information Engineers / v.50, no.11, 2013 , pp. 171-179 More about this Journal
Abstract
This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.
Keywords
telerobotic system; stability; Routh-Hurwitz criterion; Llewellyn absolute stability criterion;
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