σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the - decomposition methodology and σ-stability analysis, analytic conditions are determined on the parameters of a delayed controller that guarantee us that the system response reaches the maximal decay rate. The conditions presented in this paper are tested experimentally in tracking tasks of a flexible joint robotic arm.

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