Sampled Data Robust Control of an Under-Actuated Electromechanical System with Input Delay

Hafsa Shafiq, Fahad M. Malik, P. Plapper, M. Guo, S. Suhag
2016 MATEC Web of Conferences  
This paper focuses on sampled data control of an under-actuated electromechanical system with input delay, subjected to both parametric uncertainty and exogenous disturbances. The system is stabilized by a robust ஶ controller that stabilizes the closed loop system and attains a specified level of perturbation attenuation for all permissible parametric uncertainty. The proposed ஶ controller is designed for the orientation control of an underactuated electromechanical system which is a customized
more » ... ich is a customized drill machine. The controller is designed on the basis of discrete time equivalent model of the system which is fully actuated and time invariant. The controller performance is evaluated on the basis of Monte Carlo simulations. This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits distribution, and reproduction in any medium, provided the original work is properly cited. XQUHVWULFWHG XVH Article available at
doi:10.1051/matecconf/20164201004 fatcat:63a73sr445c2ppqmvnrvudsjem