ABSTRACT
Most control theory is concerned with the design of feedback systems for time-invariant plants with known mathematical models, e.g., in the form of given transfer functions. The assumption of constant, known models is not valid for many modern technical or nontechnical systems, such as:
Robotics: Inertias as seen by the drive motors vary with the end-effector position and the load mass so that the dynamic model varies with the robot’s attitude.
