Preface; Contents; Chapter 1: On the Use of Nonholonomic Variables in Robotics; 1 Introduction; 2 Choice of Procedure; 2.1 Constraints and Minimal Velocities; 2.2 On Virtual Displacements and Variations; 2.3 The Transitivity Equation; 2.4 Dynamical Procedures; 2.5 Analytic Approach vs. Synthetical Approach; 3 Choice of Reference Frame; 3.1 Element Matrices; 3.2 Recursive Kinematics; 3.3 Recursive Kinetics; 4 Structurally Variant Systems; 4.1 Freeing from the Constraints; 4.2 Remark on the Choice of Minimal Velocities; 4.3 Gauss' Principle of Minimal Constraints; 5 Conclusions.

Chapter 2: Compensators for the Attenuation of Fluid Flow Pulsations in Hydraulic Systems1 Introduction; 2 Sources of Hydraulic Noise; 2.1 Positive Displacement Pumps/Motors; 2.2 Switching Valves; 3 Devices for the Suppression of Hydraulic Noise; 3.1 Conventional Devices; 3.2 Novel Devices; 4 Illustrative Example and Discussion; 4.1 Multi Degree-of-Freedom Mass-Spring Compensator; 4.2 Compensator Based on Plate/Shell Element; 4.3 Compact /\/4 Side-Branch Resonator; 5 Conclusions; Chapter 3: Some Aspects of Washing Complex Non-Linear Dynamics; 1 Introduction; 2 Theoretical Modelling.

2.1 Description of the Model2.2 The Results of Numerical Simulation; 2.2 Conclusions to the Theoretical Modelling; 3 Experiment; 3.1 Experimental Set-Up; 3.2 Experimental Results Analysis; 3.3 Conclusions to the Experimental Work; 4 Conclusions; Chapter 4: Analysis and Nonlinear Control of Hydraulic Systems in Rolling Mills; 1 Introduction; 2 The Isothermal Bulk Modulus E; 2.1 The State Equation; 3 Model of a Single Acting Cylinder; 3.1 Analysis of the Linearized System; 3.2 Disturbance and Reference Behavior; 3.3 The High Gain Effect; 3.4 Pressure Transfer Function; 3.5 Influence of Leakages.

3.6 Influence of the Mill Stretch3.7 The Hydraulic Spring; 3.8 Different Loads; 4 Model of a Servovalve; 5 Identification; 5.1 Servovalve; 5.2 Millstretch; 5.3 Coulomb Friction Load; 5.4 Work Roll Load -- 800 Tons; 5.5 Work Roll Load -- 1500 Tons; 6 Nonlinear Control; 6.1 Nonlinear Control -- Step Responses; 7 Conclusions; Chapter 5: Mathematical Modelling and Nonlinear Control of a Temper Rolling Mill; 1 Introduction; 2 Mathematical Modelling; 2.1 Non-Circular Arc Rollgap Model; 2.2 Mill Stand Dynamics and Hydraulic Actuator; 2.3 Characterization of the Elastic Strip Elements.

2.4 Bridle Roll Dynamics2.5 Winder Dynamics; 2.6 The Entire Mathematical Model of the Skin Pass Mill; 3 Control of the Skin Pass Mill; 3.1 Properties and Restrictions of the Plant; 3.2 Outline of the Proposed Control Concept; 3.3 Nonlinear Hydraulic Gap Control; 3.4 Speed Control of the Bridle Rolls/Elongation Control; 3.5 Speed Control of the Main Mill Drive; 3.6 Nonlinear Tension Control: An Exact Input/ Output-Linearization Approach; 3.7 Winder Control; 3.8 Simulation Results; 4 Conclusions.