Robust Pole Placement in a Specified Trapezoid Region for Flexible Manipulators

T. C. Kuo,Y. J. Huang,C. Y. Chen, P. C. Wu, B. W. Hong

Journal of Optimization Theory and Applications（2013）

引用 3|浏览16

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摘要

This paper proposes a robust pole placement method for the joint dynamical models of flexible manipulators with parametric uncertainty. The proposed method incorporates Kharitonov’s theorem, the Routh–Hurwitz criterion, and the mapping theory. All system poles can be placed in a specified trapezoid region such that control system performance can be predefined.

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关键词

Robust stability,Robust parameter designs,Pole and zero placement problems,Kharitonov polynomial

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