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Then the stability of the system is proven based on Lyapunov's method, where a Lyapunov function and its time\u2010derivative are derived from the selected compensators. In the process of stabilization, stability bounds are obtained for disturbances, control gains, adaptation gains, and desired trajectories, in the presence of feedback delay due to digital computation and first\u2010order hold in the control loop. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110402","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:49Z","timestamp":1183733449000},"page":"241-255","source":"Crossref","is-referenced-by-count":3,"title":["Design of a robust adaptive control law for robotic manipulators"],"prefix":"10.1002","volume":"11","author":[{"given":"Ho\u2010Hoon","family":"Lee","sequence":"first","affiliation":[]},{"given":"Fred E. 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