Robust pole placement control of flexible manipulator arm via LMIs

Abstract

This paper addresses the problem of robust pole placement control of flexible manipulator arm via a dynamic output feedback control. The controller is designed based on the dynamic output feedback controller. The design technique is described using linear matrix inequalities. The effectiveness of the proposed technique in control of manipulator arm is illustrated by simulation results. The comparison of this method with other methods used to control the robot manipulator arm shows the effectiveness of our approach.