In this chapter, a modified output redefinition approach was proposed that requires only a priori knowledge about the linear model of the system and no a priori knowledge about the payload mass. First, the output of the flexible-link system was redefined such that the zero dynamics related to the new output are stable. This is done by neglecting the payload and linearizing the zero dynamics of the system. Then, the stability of the zero dynamics associated to this new output was shown to be ensured as payload mass M l increases. This enables us to design such controllers that remain robust to the payload variation. This is the subject of the next chapter.
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