σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

G. Ochoa-Ortega, R. Villafuerte-Segura, M. Ramírez-Neria, L. Vite-Hernández
2019 Complexity  
In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the D-decomposition methodology and σ-stability analysis, analytic conditions are determined on the parameters of a delayed controller that guarantee us that the system response reaches the maximal decay rate. The conditions presented in this paper are tested experimentally in tracking tasks of a flexible joint robotic arm.
doi:10.1155/2019/7289689 fatcat:nb2sbvjgujft7chsjyiedjlbze