The paper presents robust controller design for systems with uncertain transport delays. Robust PI controllers are designed using approach, which combines the method based on plotting the stability boundary locus in the (kp, ki)-plane with the pole-placement method. The approach enables to assure robust stability of the closed loop as well as the quality of the control response prescribed by th...

Dexterous manipulation with a highly redundant movement system is one of the hallmarks of human motor skills. From numerous behavioral studies, there is strong evidence that humans employ compliant task space control, i.e. they focus control only on task variables while The International Journal of Robotics Research Vol. 27, No. 6, June 2008, pp. 737–757 DOI: 10.1177/0278364908091463 c SAGE Pub...

Dexterous manipulation with a highly redundant movement system is one of the hallmarks of human motor skills. From numerous behavioral studies, there is strong evidence that humans employ compliant task space control, i.e. they focus control only on task variables while The International Journal of Robotics Research Vol. 27, No. 6, June 2008, pp. 737–757 DOI: 10.1177/0278364908091463 c !SAGE Pu...

At the crossing between motor control neuroscience and robotics system theory, the paper presents a rhythmic experiment that is amenable both to handy laboratory implementation and simple mathematical modeling. The experiment is based on an impact juggling task, requiring the coordination of two upper-limb effectors and some phase-locking with the trajectories of one or several juggled objects....

This paper surveys some signi ̄cant applications of interval analysis to robust control ̄eld. Interval analysis is specially powerful in bounding the ranges of functions while providing mathematically rigorous results. This capability is especially welcome in robust control, since a variety of analysis and design problems can be cast in the evaluation of the range of functions over intervals. To...

The H∞ control problem was posed by G. Zames in 1981 [1], and solved by P. Apkarian and D. Noll in 2006 [2]. In this treatise we present the rational of H∞ control, give a short history, and recall the milestones reached before our 2006 solution. We also discuss the recent Matlab function hinfstruct, based on work by Apkarian, Noll and Gahinet (TheMathworks) and available in the Robust Control ...

The objective of the paper is to design the robust discrete H∞ controller for dc motor position control using Frequency-Domain Robust Controller Design Toolbox. In this paper, the time performance characteristics of 2 and 3 order controller has been compared by taking dc motor as a design example. The paper aims at demonstrating and simple modelling and robust discrete control synthesis strateg...