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Moreover, we also show that virtually the PID part of the controller suffices to achieve the reported global results. We present a theoretical justification for the torque control strategy, commonly used in practice to control BLDC motors. Our controller does not require the exact knowledge of neither robot nor actuator parameters.<\/jats:p>","DOI":"10.1017\/s026357470800461x","type":"journal-article","created":{"date-parts":[[2008,5,6]],"date-time":"2008-05-06T09:40:39Z","timestamp":1210066839000},"page":"225-233","source":"Crossref","is-referenced-by-count":20,"title":["PID control of robot manipulators equipped with brushless DC motors"],"prefix":"10.1017","volume":"27","author":[{"given":"V. 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