Crone Controller Design for a Robot Arm

  • Ahmed Abid
  • Rim Jallouli–Khlif
  • Nabil Derbel
  • Pierre Melchior
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 175)


The CRONE strategy (French acronym of Commande Robuste d’Ordre Non Entier) is assumed to give rise to a great number of applications in different industrial fields. This paper introduces the design of a second generation controller intended to control in position a two degrees of freedom robot arm. Great performances and robust behaviour are obtained and validated especially by a comparative study.


CRONE control Second generation Robustness Robot arm 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Ahmed Abid
    • 1
  • Rim Jallouli–Khlif
    • 1
  • Nabil Derbel
    • 1
  • Pierre Melchior
    • 2
  1. 1.Control and Energy Management Lab (CEM-Lab LR11ES47)National Engineering School of SfaxSfaxTunisia
  2. 2.Integration from Materials to Systems Lab (IMS-UMR 5218 CNRS), Bordeaux INPUniversity of BordeauxBordeauxFrance

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