Actuator matrix design for over-actuated systems

Typically, one actuator is needed per actively controlled DoF, but practical design considerations often lead to an over-actuated system. In this Mikroniek article, it is shown, however, that the freedom provided by over-actuation can be used to not only decouple rigid-body modes, but also to isolate non-rigid-body resonance modes. Thus the performance and/or robustness of the controlled system is improved without actually having to add an additional control loop. (Image courtesy of Nobleo Technology)