Robust Servo Control for Planer Manipulators

This book deals with system identification, controller design and analysis of the designed closed loop systems for one and two links planar manipulators. As typical manipulators, single stage and dual stage actuators of data storage systems are considered. Goals of the control are to obtain satisfactory time and frequency responses in the presence of plant uncertainties. In case of one link planer manipulator, a state-space disturbance observer for frequency response improvement and gain/phase stabilization methods for reducing flexible mode of the plant are developed. In case of a two links planer manipulator, a dual feedback control structure for controlling relative contributions in frequency domain and decoupling control for diminishing coupled dynamics in time domain are designed. Practical implementations verify effectiveness of the theoretical approaches.