Practical Application of a Linear Time-Varying Pole Placement Technique to Trajectory Tracking Control of a Manipulator

Yasuhiko Mutoh and Masakatsu Kemmotsu


Tracking Control, Manipulator Control, Nonlinear System, Linear Time-Varying System, Pole Placement


The author proposed the simple design procedure of pole placement controller for linear time-varying multi-input systems. The feedback gain can be obtained directly from the plant parameters without transforming the system into any standard form. This design method will be applied to the problem of the trajectory tracking control of 2-link manipulator.

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