Teaching sampled‐data H∞ control theory using arm robot experiment system

This paper explains how to use an arm robot experiment system to teach sampled-data H∞ control theory. A design procedure is presented for a digital tracking control system for a continuous plant with structured uncertainties; the target is the positioning control of an arm robot. To guarantee the robust stability of the closed-loop system and provide the desired closed-loop performance, the design problem is first formulated as a sampled-data H∞ control problem, and is then transformed into an equivalent discrete-time H∞ control problem. Finally, linear matrix inequalities are used to obtain a reduced-order output-feedback controller and a static state-feedback controller. In a course, the design procedure is explained and practice is provided through simulations and experiments. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

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