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.- Robust Tracking Control with Hierarchical Perturbation Compensation.- Robust Performance of the Multiloop Perturbation Compensator.- Discrete-Time Design and Analysis of Perturbation Observer.- Combined Observer Design for Robust State Estimation and Kalman Filtering.- Control of Coarse/Fine Dual-Stage Positioning System.- Concluding Remarks.

Perturbation Compensator based Robust Tracking Control and State Estimation of Mechanical Systems