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British Library Cataloguing in Publication Data Williarnson, Darrell, 1948-Discrete-time signal processing. -(Advanced textbooks in control and signal processing) I.Signal processing 2.Discrete-time systems I.Tide 621.3'82:2

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The method of constrained particle dynamics is used to develop a dynamic model of order 12N for a general class of tensegrity structures consisting of N compression members (i.e. bars) and tensile members (i.e. cables). This model is then used as the basis for the design of a feedback control system which adjusts the lengths of the bars to regulate the shape of the structure with respect to a given equilibrium shape. A detailed design is provided for a 3-bar structure.

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