Robust control of flexible manipulators
A robust control scheme is presented for a single link flexible manipulator under parameter uncertainties. State feedback is determined from the knowledge of the range in which the open-loop system parameters lie. The state feedback so obtained provides a minimal desired damping under parameter uncertainties. To account for residual modes, a low-pass filter is used in the forward path. The filter parameters can be determined from the knowledge of open-loop and desired closed-loop characteristics.<>
Chapter, 1989