| The aim of this dissertation is to investigate the control of a robotic arm with link flexibilities using the H{dollar}infty{dollar} control theory in the state-space domain. In this framework; several control strategies applied to a linear as well as to the nonlinear model of a flexible link robot arm, are considered. Among those strategies, the H{dollar}infty{dollar} Standard Controller and the Minimum Entropy H{dollar}infty{dollar} Controller can be found. The problem of model reduction is also investigated. Methods such as H{dollar}infty{dollar} Balanced truncation, singular perturbation are considered. The performances of these controllers are studied through simulations. |
