Robust control of flexible manipulators via μ -synthesis

Mansour Karkoub, Gary Balas, Kumar Tamma, Max Donath

Research output: Contribution to journalArticle

36 Citations (Scopus)


An experimental flexible arm serves as testbed to investigate the efficacy of the μ-synthesis design technique in the control of flexible manipulators. A linearized model of the testbed is derived for control design. Discrepancies and errors between the linearized model and the physical system are accounted for in the control design via uncertainty models. These uncertainties include: unmodeled high-frequency dynamics, errors in natural frequencies and damping levels and actuator and sensor errors. Colocated and noncolocated controllers are designed using μ-synthesis. It is observed, theoretically and experimentally, that the μ-synthesis design technique is a viable control tool for tip tracking with flexible manipulators.

Original languageEnglish
Pages (from-to)725-734
Number of pages10
JournalControl Engineering Practice
Issue number7
Publication statusPublished - Jul 2000
Externally publishedYes



  • Flexible manipulators
  • Robust control* μ -Synthesis

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Industrial and Manufacturing Engineering

Cite this

Karkoub, M., Balas, G., Tamma, K., & Donath, M. (2000). Robust control of flexible manipulators via μ -synthesis. Control Engineering Practice, 8(7), 725-734.