Robust Control pp 130-137 | Cite as

Robust control of nonlinear mechanical systems — Case Studies —

  • Koichi Osuka
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 183)


In this paper, we showed some case studies of robust control of mechanical systems. In this paper, dividing the uncertainties in the dynamical model of robot systems into two cases, that is (i) Structured Uncertainty and (ii) Unstructured Uncertainty, and then we showed control strategy which suited for each case through some experiments.

We can say that the next step in the field of robot motion control is to consider both uncertainties at once.


Actuator System Robot Manipulator Control Accuracy Structure Uncertainty Bode Diagram 
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Copyright information

© Springer-Verlag 1992

Authors and Affiliations

  • Koichi Osuka
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of Osaka PrefectureSakai, OsakaJapan

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