https://en.wikipedia.org/wiki/Bob_Behnken … Behnken's graduate thesis research was in the area of nonlinear control applied to stabilizing rotating stall and surge in axial-flow compressors.[6] The research included nonlinear analysis, real-time software implementation development, and extensive...
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"hardware construction. During his first two years of graduate study, Behnken developed and implemented real-time control algorithms and hardware for flexible robotic manipulators."
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