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ACKNOWLEDGEMENTS
This work has been supported by PPCA 150/2012
grant of the Romanian Executive Agency for Higher
Education, Research, Development and Innovation
Funding (UEFISCDI).
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APPENDIX
From (10) - (11), the error dynamics will be
described by
I
ρ
L
2
A e
(t) = -b
L
2
Ae(t) -
EI
L
Ce(t)+
1
L
Δτ(t)
+ Δh(κ
d
)
(A.1)
e(0) = e
0
(A.2)
∆h = h - h
κ
d
(A.3)
Let us consider the Liapunov function
AVariableStructureControllerforaClassofHyper-redundantArms
125