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Keywords: Lie groups
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Journal Articles
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2001, 123(3): 391–399.
Published Online: July 10, 2000
... with respect to the input parameters in order to form sensitivity equations. The algorithm makes use of techniques and notation from the theory of Lie groups and Lie algebras, which is reviewed briefly. One of the strengths of our formulation is the ability to easily differentiate the dynamics algorithm...
