Kim, J.H. Hur, S.-M. Oh, Y. 2024-01-12T06:12:23Z 2024-01-12T06:12:23Z 2022-03-07 2018-02 0000-0000 https://pubs.kist.re.kr/handle/201004/79445 This paper introduces a new performance analysis method for a computed torque controller against disturbances with the framework of the induced norm from L2 to (which is also denoted by the L∞/L2-induced norm). To this end, we first derive a linear time-invariant (LTI) representation of the system obtained by connecting a robot manipulator and a computed torque controller. We then formulate the problem definition associated with the L∞/L2 performance of the computed torque controller in which the maximum magnitude of the output for disturbances of finite energy is adopted as the performance measure. We next show that the L∞/L2-induced norm of the derived LTI system can be explicitly computed by solving the continuous-time Lyapunov equation. Finally, some experiment results are provided to demonstrate the effectiveness of the introduced performance analysis method. ？ 2018 IEEE. English Institute of Electrical and Electronics Engineers Inc. A study on the L∞/L2 performance of a computed torque controller Conference 10.1109/ICIT.2018.8352148 1 19th IEEE International Conference on Industrial Technology, ICIT 2018, pp.35 - 39 19th IEEE International Conference on Industrial Technology, ICIT 2018 35 39 US 2018-02-19 Proceedings of the IEEE International Conference on Industrial Technology 2-s2.0-85046948264