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Furthermore, tracking error converges to zero from arbitrarily large initial conditions if controller gains are correctly chosen. Under mild assumptions, this controller reduces to the well-known PD control with feedforward compensation when implemented according to torque control, a successful industrial practice. Thus, it is explained, for the first time, why this strategy works well in applications.<\/jats:p>","DOI":"10.1017\/s0263574710000329","type":"journal-article","created":{"date-parts":[[2010,7,29]],"date-time":"2010-07-29T10:57:20Z","timestamp":1280401040000},"page":"507-514","source":"Crossref","is-referenced-by-count":15,"title":["PD control with feedforward compensation for rigid robots actuated by brushless DC motors"],"prefix":"10.1017","volume":"29","author":[{"given":"R. V.","family":"Carrillo-Serrano","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V. 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