Szukana fraza: [Abstract = "This contribution involves pole\-placement within suitable LMI regions, guaranteeing both stability and performance of a multi\-fault LPV estimator employed within an FTC structure. The proposed design strategy is illustrated using a nonlinear two\-link manipulator system with friction forces acting simultaneously at each joint. The friction forces, regarded as a special case of actuator faults, are estimated and their effect is compensated within a polytope controller system, yielding a robust form of active FTC that is easy to apply to real robot systems."]

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