A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

Based on the ICD (Individual channel Design) approach, the design of a multivariable digital submarine depth control system is presented. The model of the submarine is the standard 80 meters British submarine. As expected, the frequency rate of sampling introduces limitations to achieve the required responses. Furthermore, the discrete model presents zeros close to imaginary axis resulting in a...

A novel multivariable laboratory process that consists of four interconnected water tanks is presented. The linearized dynamics of the system have a multivariable zero that is possible to move along the real axis by changing a valve. The zero can be placed in both the lefr and the right half-plane. I n this way the quadrupletank process is ideal for illustrating many concepts in multivariable c...