Robust stabilization of a flexible arm

A method of robust stabilization with a prescribed degree of stability is proposed for a class of systems with additive unstructured uncertainty. The method enables an effective tradeoff to be made between the expected control performance and the estimated model uncertainty. The method is successfully applied to the control of a flexible arm. The synthesis based on this method is free from the spillover effect and exhibits a fast response with good suppression of elastic vibration, as well as substantial robustness.<<ETX>>