Robust control of a flexible robot arm using the quadratic d-stability approach

This paper shows how the quadratic d-stability design method provides a solution to a flexible robot arm control problem. The experimental process exhibits time delay, nonminimum phase behavior and lightly damped modes. The method is based on pole placement considerations and involves the resolution of two parameter dependent Riccati equations with an extra condition. Performances achieved numerically by the designed controller are tested on the physical system.