Abstract
Abstract A new design methodology that yields robust controllers for globally or locally linearized model is introduced. The linear models are used together with eigen-structure assignment to select suitable dynamics for the system. The selected eigen-structure is assigned to a linear regulator with prescribed relative stability. The satisfaction of state inequality constraints is checked using a published method due to Kiendl. After the designs are completed, their robustness is assessed using a new measure of robustness. The process is repeated until satisfactory robustness, relative stability, etc. are achieved. The design methodology is illustrated using a 2-DOF robotic manipulator example. The example shows that the final design selected must be a compromise between robustness, relative stability, gain magnitude and other considerations.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
