단일링크 유연성 로보트 매니퓰레이터의 주파수변동에 대한 강건성 제어기설계

The design of robust controller to frequency variation in an one-link flexible robot manipulator

The natural frequency of an one-link flexible robot manipulator may be varied due to many kinds of causes and this natural frequency is regarded as the uncertain element. Utilizing measured state the robust controller is designed for bounding every system response within a certain neighborhood of the zero state.