Szukana fraza: [Abstract = "But there are disadvantages of such control design\: \(i\) exact knowledge about the system model is needed to avoid all the related sensitivity problems\; \(ii\) discontinuous non\-linearities, such as e.g. the Coulomb friction cannot be analysed by this method. Therefore two other design approaches are proposed\: the method of \"reverse linearization\" and the method of estimation and compensation of non\-linearities. They result in a robust independent joint control of robots."]

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