Abstract
Current robot manipulators are controlled by decentralized or independent joint controllers. That is, each joint is locally controlled using only local information. We discuss the asymptotic behavior of the closed loop eigenvalues of such systems when the high gain feedback is implemented. The high-gain feedback is an effective control method because of its robustness to parameter variations and disturbances. By using a theory of multivariable root-loci, we present three propositions about the behavior of the closed loop eigenvalues in the case that the constant gain controller is used. It is supposed that the obtained results are useful in the control system design of manipulators.
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