1. Date of download: 11/4/2017
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From: Position Control Using Acceleration-Based Identification and Feedback With Unknown Measurement Bias
J. Dyn. Sys., Meas., Control. 2007;130(1): doi: /
Figure Legend:
Position-command following for the two-mass system using an LQG controller and a backward-path controller. The LQG controller Gc produces the control input u to track the position command r, while the backward-path controller with zero dc gain, that is, a zero at z=1, rejects the sensor bias.