TY  - JOUR
T1  - Position and Speed Control of 2DOF Industrial Robotic Arm using Robust Controllers
AU - Jibril, Mustefa AU - Tadese, Messay AU - Degefa, Reta 
JO  - Journal of Engineering and Applied Sciences
VL  - 15
IS  - 24
SP  - 3765
EP  - 3769
PY  - 2020
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2020.3765.3769
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2020.3765.3769
KW  - Industrial robotic arm
KW  -Mixed H2/H∞ synthesis with regional pole placement controller
KW  -H2 optimal controller
AB  - In this study, a 2 DOF industrial robotic arm is
designed and simulated for elbow and wrist angle and
velocity performance improvement using robust control
method. Mixed H2/H∞ synthesis with regional pole
placement and H2 optimal controllers are used to improve
the system output. The open loop response of the robot
arm shows that the elbow and wrist angles and velocities
need some improvement. Comparison of the proposed
controllers for an impulse and step input signals have
been done and a promising results have been obtained.
ER  -