most citedFrequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function

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math.OC2026

Model-Based Koopman-Galerkin Lifting for Guaranteed H-Infinity Output Feedback Control of Nonlinear Systems

Burak Kurkcu, Burak Kürkçü, Christopher Phan +2

In this paper, we present a model-based Koopman-Galerkin framework for output-feedback control of nonlinear systems with known dynamics. With a suitable actuator augmentation, the…