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A b s tr a c t In this paper we propose a practical discontinuous feedback control scheme for the regulation of joint positions of robotic manipulators. A robust on-off switching control strategy based on a pulse-width-modulation (PWM) feedback scheme is proposed for the joint torques. The discontinuous PWM controller design is carried out on the basis of a suitable controller designed for an average model which is of continuous nature. Simulations of the closed loop performance of the proposeddoi:10.1080/00207729308949572 fatcat:pwgctlcq5fd7fl5lpbkeocqmti