Model parameters vary significantly during a normal operation, thus, adaptive techniques have predominately been used. However, model-based techniques that carefully account for changes in the force process have again been examined due to the reduced complexity afforded by such techniques. In this paper, the effect of model parameter variations on the closed-loop stability for two model-based force controllers is examined. It was found that the stability boundary in the process parameter space can be exactly determined for force control systems designed for static force processes. For force control systems designed for first-order force processes, it was found that the stability boundary is sensitive to the estimate of the discrete-time pole. The analysis was verified via simulations and experimental studies

Meeting Name

1999 American Control Conference, 1999


Mechanical and Aerospace Engineering

Keywords and Phrases

Adaptive Control; Closed Loop Systems; Discrete-Time Pole; Force Control; Linearisation; Linearisation Techniques; Machining; Model-Based Control; Nonlinear Control Systems; Parameter Space; Poles and Zeros; Stability

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 1999 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 1999