On Global Regulatability of Robot Manipulators by Classical PID
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来源：arXiv cs.RO发布时间待核实
arXiv:2609.01207v1 Announce Type: new Abstract: This paper studies a class of uncertain multi-input multi-output (MIMO) nonlinear systems using extended PID (EPID) control. We focus on systems possessing a well-defined vector relative degree whose components may vary across channels, a setting that received limited attention in the existing literature on PID-type control.