Differences between nominal inertia matrix and actual inertia matrix represent structured uncertainties.
The cable mass and the moment of the payload inertia around its mass center are neglected here.
The use of impedance control10, 11 is also possible for reducing effective inertia (by realizing a target system behaviour).
Since moving components of the manipulator have small mass moment of inertia, the actuating force is correspondingly small.
In general, it is not easy to physically construct a wheeled mobile robot whose moment of inertia is decoupled as (11).
Inertia forces due to the mass of the rigid part at the free tip are also added at the end-node.
While funds are free to rebalance their investments as asset prices change, there are the frictions of transactions costs and inertia.
The thermal inertia in turn affects the surface temperature and its diurnal amplitude.
