This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...

The problem of designing controls for a linear dynamic system under input disturbance is considered. The input disturbance is bounded but the bound information is either deterministic or fuzzy. The control design is purely deterministic. However, the resulting system performance is interpreted differently, depending on the bound information. It may be deterministic or fuzzy (i.e. with a spectru...

The celebrated small-gain approach to robust control only makes use of the gain information of uncertainty. This results in a limitation on the achievable control bandwidth in system design. On the other hand, the alternative passivity approach has only limited applications. To relax the limitations associated with small-gain and passivity approaches, we explore the possibility of utilizing bot...

Iterative control has been widely studied in recent years as an efficient methodology for the design of highly-performing controllers of complex plants. The idea behind iterative design is that, when the plant is exceedingly complex, the design of the controller in one shot is hazardous. Instead, one can perform a sequence of closedloop identification and controller design steps, aiming at prog...

The problem of decentralized adaptive robust stabilization is considered for a class of uncertain large scale time–delay systems with nonlinear interconnection terms. It is assumed that the upper bounds of the uncertainties and the interconnection terms are unknown, and that the time–varying delays are any nonnegative continuous and bounded functions, and do not require that their derivatives h...

Robust control systems may successfully be designed by ~'=-optimization, in particular, by reformulating the design problem as a mixed sensitivity problem. Abstract-The paper presents a tutorial exposition of ~=-optimal regulation theory, emphasizing the relevance of the mixed sensitivity problem for robust control system design.

in this paper, firstly by using a mixed linear programming a new model of locating facilities with limited capacity is presented to design a closed-loop supply chain in a multi-product and multi-period mode. then, using a robust optimization approach, the proposed model decreases in non-deterministic expansion. the results show that the proposed model can handle facility capacity in a closed lo...

in this study, an optimization model is proposed to design a global supply chain (gsc) for a medical device manufacturer under disruption in the presence of pre-existing competitors and price inelasticity of demand. therefore, static competition between the distributors’ facilities to more efficiently gain a further share in market of economic cooperation organization trade agreement (ecota) is...