Nonlinear H/sub /spl infin// control via quasi-LPV representation applied in a underactuated manipulator

In this paper, the nonlinear H/sub /spl infin// control via quasi-linear parameter varying (quasi-LPV) representation of the nonlinear system is used to control a underactuated robot manipulator. This technique consists in find a solution to a set of linear matrix inequalities (LMI) satisfying the L/sub 2/ gain generated from the gridding of the state space range. Experimental results obtained from the underactuated robot manipulator UArm II are presented.