Abstract
This paper proposes a robust pole placement method for the joint dynamical models of flexible manipulators with parametric uncertainty. The proposed method incorporates Kharitonov’s theorem, the Routh–Hurwitz criterion, and the mapping theory. All system poles can be placed in a specified trapezoid region such that control system performance can be predefined.
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Acknowledgements
The authors would like to thank National Science Council, Taiwan, for financially supporting this work under Grants NSC97-2221-E-155-020-MY2 and NSC99-2221-E-155-001.
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Kuo, T.C., Huang, Y.J., Chen, C.Y. et al. Robust Pole Placement in a Specified Trapezoid Region for Flexible Manipulators. J Optim Theory Appl 159, 507–517 (2013). https://doi.org/10.1007/s10957-013-0321-9
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DOI: https://doi.org/10.1007/s10957-013-0321-9