@article{oai:kyutech.repo.nii.ac.jp:00000087,
 author = {大川, 不二夫 and 山中, 禎詠 and 江崎, 秀徳 and 本田, 英己 and 小黒, 龍一},
 issue = {629},
 journal = {日本機械学會論文集. C編},
 month = {Jan},
 note = {This paper presents a simple design method of a digital control system for a flexible arm. First, we derive the new discrete time flexible arm model directly, without using an approximation to lumped parameter system. Next, based on this model, the digital control systems are designed. The control algorithms can be implemented without considering the spillover problems and in very simple formulation. Then, we apply it to control a cantilever beam. Simulation and experimented results demonstrate the effectiveness of the proposed discrete-time model and show its advantages in control applications.},
 pages = {154--160},
 title = {フレキシブルアームの簡単化ディジタル制御},
 volume = {65},
 year = {1999}
}