. En and . Qu, il existait un balourd dûdûà un mauvais alignement des axes des différents composants De plus, il est envisagé d'introduire un disquè a inertie variable et modulable ou un pseudo-bras de robot pour créer d'autres types de couple de charge. Enfin, il est envisagé d'utiliser d'autres alimentations pour effectuer des expérimentations pour valider des performances dynamiques plus importantes. En effet, ` a l'heure actuelle, les performances, vitesse et accélération

. De-la-mêmemanì-ere, on peut envisager d'introduire une identification des paramètres " enligne " pour adapter les valeurs des paramètres variables dans le temps durant le fonctionnement

. Demanì-ere-similaire, on pourrait essayer d'appliquer ces lois de commande, avec ou sans observateurs

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