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1、RobustControlofRobotsAdrianoA.G.Siqueira•MarcoH.TerraMarcelBergermanRobustControlofRobotsFaultTolerantApproaches123Dr.AdrianoA.G.SiqueiraDr.MarcelBergermanEngineeringSchoolofSãoCarlosCMURoboticsInstituteUniversityofSãoPaulo5000ForbesAvenueAv.Trabalhad
2、orSãocarlensePittsburgh400SãoCarlosPA15213-3890SP13566-590USABrazile-mail:marcel@cmu.edue-mail:siqueira@sc.usp.brDr.MarcoH.TerraEngineeringSchoolofSãoCarlosUniversityofSãoPauloAv.TrabalhadorSãocarlense400SãoCarlosSP13566-590Brazile-mail:terra@sc.usp.b
3、rAdditionalmaterialtothisbookcanbedownloadedfromhttp://extra.springer.comISBN978-0-85729-897-3e-ISBN978-0-85729-898-0DOI10.1007/978-0-85729-898-0SpringerLondonDordrechtHeidelbergNewYorkBritishLibraryCataloguinginPublicationDataAcataloguerecordforthisb
4、ookisavailablefromtheBritishLibraryÓSpringer-VerlagLondonLimited2011MATLABandSimulinkareregisteredtrademarksofTheMathWorks,Inc.Seewww.mathworks.com/trademarksforalistofadditionaltrademarks.Otherproductorbrandnamesmaybetrademarksorregisteredtrademarkso
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6、rmissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththetermsoflicensesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Theuseofregisterednames,trademarks,
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8、inedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade.Coverdesign:eStudioCalamarS.L.Printedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)ToMyWifeFlavianeandMySonJoão
