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1、RobustControlofRobotsAdrianoA.G.Siqueira•MarcoH.TerraMarcelBergermanRobustControlofRobotsFaultTolerantApproaches123Dr.AdrianoA.G.SiqueiraDr.MarcelBergermanEngineeringSchoolofSãoCarlosCMURoboticsInstituteUniversityofSãoPaulo5000ForbesAvenueAv.TrabalhadorSãocarlensePitts
2、burgh400SãoCarlosPA15213-3890SP13566-590USABrazile-mail:marcel@cmu.edue-mail:siqueira@sc.usp.brDr.MarcoH.TerraEngineeringSchoolofSãoCarlosUniversityofSãoPauloAv.TrabalhadorSãocarlense400SãoCarlosSP13566-590Brazile-mail:terra@sc.usp.brAdditionalmaterialtothisbookcanbedo
3、wnloadedfromhttp://extra.springer.comISBN978-0-85729-897-3e-ISBN978-0-85729-898-0DOI10.1007/978-0-85729-898-0SpringerLondonDordrechtHeidelbergNewYorkBritishLibraryCataloguinginPublicationDataAcataloguerecordforthisbookisavailablefromtheBritishLibraryÓSpringer-VerlagLon
4、donLimited2011MATLABandSimulinkareregisteredtrademarksofTheMathWorks,Inc.Seewww.mathworks.com/trademarksforalistofadditionaltrademarks.Otherproductorbrandnamesmaybetrademarksorregisteredtrademarksoftheirrespectiveholders.Apartfromanyfairdealingforthepurposesofresearcho
5、rprivatestudy,orcriticismorreview,aspermittedundertheCopyright,DesignsandPatentsAct1988,thispublicationmayonlybereproduced,storedortransmitted,inanyformorbyanymeans,withthepriorpermissioninwritingofthepublishers,orinthecaseofreprographicreproductioninaccordancewiththet
6、ermsoflicensesissuedbytheCopyrightLicensingAgency.Enquiriesconcerningreproductionoutsidethosetermsshouldbesenttothepublishers.Theuseofregisterednames,trademarks,etc.,inthispublicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant
7、lawsandregulationsandthereforefreeforgeneraluse.Thepublishermakesnorepresentation,expressorimplied,withregardtotheaccuracyoftheinformationcontainedinthisbookandcannotacceptanylegalresponsibilityorliabilityforanyerrorsoromissionsthatmaybemade.Coverdesign:eStudioCalamarS
8、.L.Printedonacid-freepaperSpringerispartofSpringerScience+BusinessMedia(www.springer.com)ToMyWifeFlavianeandMySonJoão
