Abstract
Designing a non-linear controller has always been a very daunting job for researchers and control engineers. The robotic manipulators have multiple inputs and multiple outputs. In this paper, we are talking about two link manipulators. A comprehensive explanation of dynamics and the control structure of the NPID controller have been provided to the industries by reducing the workforce with the help of automation. This controller is a combination of Proportional Integral and Derivative Controller and has a nonlinear factor that is multiplying with the integral controller, and it was further concluded that the NPID controller was the best among the others. This controller is used in various important fields such as welding, under water robots, industry, painting, spot welding and many more.
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