Linear multivariable control of two‐link robots

Abstract

Abstract Several simple multivariable controllers such as proportional (P), proportional‐derivative (PD), proportional‐integral (PI), and proportional‐integral‐derivative (PID) are investigated and designed for stabilization and regulation of a two‐link planar robot. A new multivariable controller is introduced in this article to achieve command matching. The multivariable controllers are designed on the basis of a linearized model of the robot dynamics. Numerous simulation results are presented to evaluate the performance of the multivariable controllers for the two‐link planar robot.