Robust Controller Application to Flexible Manipulators

In order to achieve stability and gcod performance, the pole assignment technique has been recognized as a good theoretical method. This technique has received widespread attention, during the past few years, Kucera (1], Astrom and Wittenmark [2]. There has also been some criticism of this method because of the unrealistic assumptions made in various works with respect to complete state observation, Wonhain [3], and accuracy in the model determination, Horowitz [4]. Whenever the hole state vector is available, it has been shown that a controller of order r (i.e., n m I + 1) can assign the poles arbitrarily Kimura [5], Chen [6]. In this case, n, m, and I represents the number of states, inputs and outputs, respectively.