Abstract:This paper explains how to use an arm robot experiment system to teach sampled‐data H∞ control theory. A design procedure is presented for a digital tracking control system for a continuous plant with structured uncertainties; the target is the positioning control of an arm robot. To guarantee the robust stability of the closed‐loop system and provide the desired closed‐loop performance, the design problem is first formulated as a sampled‐data H∞ control problem, and is then transformed into an equivalent disc… Show more
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