Model Following Control of a Higher Order Plant by a Lower Order Model

Abstract

In this paper, based on Model Following Control (MFC) approach, a robust controller is used to control a flexible robot manipulator along a pre-defined trajectory. Here two degree of freedom plant is considered that has two different inertias. The plant is run by the single degree of freedom ideal model. Primarily, an ideal model is formulated from the mathematical expression and by selecting a suitable feedback amplifier gain a well-defined response is established. A reference input voltage is given to the model and the plant is driven by the errors, generated from the differences of the states between the plant and model. Here special attention is given to the fact that how precisely the states of the plant can follow the ideal states of the model. The proposed model following control (MFC) system may be used successfully in industrial robots.