Examination of Stability and Characteristics of Gyrator Type Bilateral Control; Toward Controller and Transfer Impedance Design

This paper examines a stability characteristic of gyrator type bilateral control in order to determine a definite feedback gain and scaling design. Stability is examined based on root locus. Maximum stable gain, transfer impedance and transfer admittance are observed in the examination. Moreover, it is observed that at certain transfer impedance and admittance, gyrator type bilateral control and transformer type bilateral control become equivalent to each other. Validity of the analysis and characteristics of several transfer impedance and transfer admittance design are examined based on experiments.