Robust nonlinear reduced-order dynamic controller design and its application to a single-link manipulator

We focus on the design of robust reduced-order dynamic feedback control for a class of nonlinear systems with uncertainties. A robust nonlinear reduced-order dynamic controller (RNRDC) is proposed. The resulting closed-loop system can be robustly stabilized for all admissible uncertainties via the proposed controller. The application of the proposed RNRDC to a permanent magnet brush DC motor driving a single-link manipulator is also considered. The parameters uncertainties can be up to /spl plusmn/80%. The load can vary ranging from 50% to +100% of the nominal value. Our simulation results show that for the example system the proposed RNRDC can achieve good performance.