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Updated: May 3, 2026

A Vibrotactile Feedback Device for Seated Balance Assessment and Training
Published on: January 20, 2019
Stabilizing saddles
Elena Tamaševičiūtė1, Gytis Mykolaitis2, Skaidra Bumelienė1
1Department of Electronics, Center for Physical Sciences and Technology, LT-01108 Vilnius, Lithuania.
Abstract:
A synergetic control technique for stabilizing a priori unknown saddle steady states of dynamical systems is described. The method involves an unstable filter technique combined with a derivative feedback. The cut-off frequency of the filter is not limited by the damping of the system, and therefore can be set relatively high. This essentially increases the rate of convergence to the steady state. The synergetic technique is robust to the influence of unknown external forces, which change the coordinates of the steady state in the phase space.
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