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Review of MIMO Minimal Realization Techniques and Case Study on SCARA Robot Manipulator

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This paper is concerned with the review of the main minimal realization techniques for linear time-invariant MIMO systems. The main objective of this paper is to evaluate and compare these techniques, including the coprime fraction approach, in terms of realization configuration, space and time complexities using a case study: a SCARA robot manipulator. Results obtained are valid for both discrete and continuous-time systems.
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Control Theory; Matrix Transfer Function; Minimal Realization; MIMO Systems

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