σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

الملخص EN

In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed.

Based on the D-decomposition methodology and σ-stability analysis, analytic conditions are determined on the parameters of a delayed controller that guarantee us that the system response reaches the maximal decay rate.

The conditions presented in this paper are tested experimentally in tracking tasks of a flexible joint robotic arm.