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By Eitan Altman, Tamer Başar, Naira Hovakimyan (auth.), Jerzy A. Filar, Vladimir Gaitsgory, Koichi Mizukami (eds.)

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International Journal ofRobust and Nonlinear Control, 4, 553-574, 1994. [8] Ito, K. and T. Tsuji. The Bilinear Characteristics of Muscle-Skeletomotor System and the Application to Prosthesis Control. Transactions oflEE Japan, 10S-C, No. 10,201-209,1985. In Japanese. [9] Kato, A. et al. The Bilinear Model ofMuscie-Skeletomotor System and the Impedance Characteristics of Rubber Artifical Muscle. Proceedings of the 5th Annual of Conference ofthe Robotics Society ofJapan, pp. 657--658, 1987. In Japanese.

IEEE Network, pp. 40-48, March/April 1995. [16] Ramakrishnan, K. K. and P. Newman. Integration of Rate and Credit Schemes for ATM Flow Control. IEEE Network, pp. 49-56, March/April 1995. Boo Output Feedback Control Problems for Bilinear Systems Seigo Sasaki Department of Electrical Engineering National Defense Academy Yokosuka, Kanagawa 239-8686, Japan Kenko Uchida Department of Electrical and Computer Engineering Waseda University Shinjuku, Tokyo 169, Japan Abstract In this paper, we consider Hoo output feedback control problems for bilinear systems, and present a design example of artifical rubber muscle actuator control system.

J - .. ' ... · ....... ·.. i.......... i.... _..... i .. ui ...... - ...... (b) Control input (u) Figure 7: Case I (RI . 1 ... ·_·1-·.. --1-~:·:~r~:·:·:-: .. ,....... --! (a) Joint angle (9) . ...... "'1 + DI). - . , . . -==~ . t--i-· . " . " . ~ ......... _.. ~ • •• ;. • ~ • ••••• ~.... J :. ~... ~ .. ·····+···········t······ .... ~... J •. ••• 'J- _•••••••• to·· .. •••••••• • ~. ,~-! • (b) Control input (u) (a) Joint angle (9) Figure 8: Case 2 (RI ... + D2). - f! 011 .

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