New methods of nonlinear control for highly nonlinear systems - applications to electromechanical systems

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Many robotic, mechanical and electromechanical devices that are described by highly nonlinear dynamics are present in different applications of industry, locomotion, transportation and human assistance for their multiple advantages like dexterity, mobility and safety. To use these setups in efficient ways, one needs to ensure high levels of stability, accuracy and sensitivity through a wide range of applications. But, because of their nonlinearities and strong varying behavior, intrinsic difficulties in controlling these dynamics limit their use in precise applications.