Abstract
A design which tackles the benchmark problem for robust feedback control of a manipulator is presented. The design is based on the QFT/QFD philosophy. The system to be controlled is an uncertain nonlinear two link manipulator with elastic gear transmissions described by nonlinear friction and elasticity. In addition the system is subject to parametric uncertainty and un-measurable disturbances which affect both the motors and the end effecter (tool). The system is controlled by a discrete-time controller which optimizes performance for given robustness requirements. The control design solves the disturbance rejection, stability and performance problems. The proposed design is validated on the SimulinkTM model of the real industrial manipulator.
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