Scaling laws for frequency domain controllers of dynamically equivalent single flexible link manipulators

The nondimensional groups which characterize a group of dynamically equivalent single flexible link (SFL) manipulators are determined. A scaling law for linear rational controllers is developed for dynamically equivalent SFL systems. As an example of the applicability of this theoretical scaling law to even sophisticated control techniques, it is verified experimentally for an H/sub /spl infin// control strategy.

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