How to deal with a MIMO system whose relative degree requires states which are not available?

08 August 2018 0 4K Report

I have a MIMO system , 3 inputs, 3 outputs. Joint angles and joint velocities are some of the states and a relative degree r = (3,3,3). This requires that in transforming to get the internal dynamics, I have to have joint acceleration. Whereas I can formulate acceleration from angle and velocity, it is not one of the states. How do I define the transformation matrix in such a case?

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