Stabilization of delayed teleoperation systems using time domain passivity control [Elektronische Ressource] / von Asif Iqbal

Stabilization Of Delayed TeleoperationSystems Using Time DomainPassivity ControlVom Fachbereich Elektrotechnik und Informatik derUniversit¨at Siegenzur Erlangung des akademischen GradesDoktor der Ingenieurwissenschaften(Dr.-Ing.)genehmigte DissertationvonM.Sc. Asif Iqbal1. Gutachter: Prof. Dr.-Ing. H. Roth2. Gutachter: Prof. Dr.-Ing. habil. O. LoffeldVorsitzender: Prof. Dr.-Ing. R. MayrTag der mundl¨ ichen Pruf¨ ung: 22.06.2007gedruckt auf alterungsbesta¨ndigem holz- und sa¨urefreiem PapierTo my dear parentsAcknowledgmentsI would like to express my profound gratitude and appreciation to my advisorProf. Dr. Hubert Roth for his consistent help, guidance and attention that hedevoted throughout the course of this work. Despite his very busy schedule, healwayscouldfindtimetoadvisemeonscientificmattersandextended hisvaluablesupport even while away from his office.I am indebted to Prof. Dr. Otmar Loffeld for all that I had the privilege tolearn from him, the useful discussions that made my research period enjoyable,and his frequent encouragements that contributed to the accomplishment of thiswork.I also acknowledge and am thankful for the research scholarship for doctoralstudies in Germany provided by DAAD(German Academic Exchange Service). Iamgratefulforthesupportand facilitiesprovided by ZESS(Center forSensor Sys-tems), University of Siegen. I am especially thankful to Dr. Stefan Knedlik andMrs.