In Morselli and Zanasi (2008) (see also Figure 6.2), the authors show that this strategyprovides results comparable to those of the ADD control law, while avoiding the chatteringeffect of the damping control value. Then, the advantages of the PDD control are clearlylinked to this non-chattering phenomenon (not illustrated here, but the reader may refer toMorselli and Zanasi (2008)). The additional cost is the need for the knowledge of the springstiffness k.
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