This study investigates a low-pass circuit featuring saturation. The describing function method is used to linearize the model. One commonly encountered low-pass device is the RLC filter, which is frequently used in power electronic applications to smooth the wave forms of the circuit variables. However, in case the values of the variables pertaining to the inductance exceed those of the rated, the corner frequency of the filter may change drastically. This is due to the nonlinear phenomenon ferroresonance. A systematic procedure for the analysis is presented that with reasonable accuracy accommodates most inductors represented by nonlinear magnetization curves. The results of the study show the importance of considering saturation in the design process of the aforementioned filter and how the bandwidth of the same is influenced by the circuit parameters

A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system.>