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Robust Pole Placement in a Specified Trapezoid Region for Flexible Manipulators

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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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Authors and Affiliations

  1. Department of Electrical Engineering, Chien Hsin University of Science Technology, Chungli, Taiwan

    T. C. Kuo

  2. Department of Electrical Engineering, Yuan Ze University, Chungli, Taiwan

    Y. J. Huang, C. Y. Chen, P. C. Wu & B. W. Hong

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  1. T. C. Kuo
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  2. Y. J. Huang
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  3. C. Y. Chen
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  4. P. C. Wu
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  5. B. W. Hong
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Correspondence to T. C. Kuo.

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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

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