A linear parameter varying approach to a gain scheduled flexible joint robot

Presents a robust control system design for a flexible-joint robot manipulator. The robot manipulator dynamics are brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the variables are the joint angles. In a quasi-LPV form, a robust controller using /spl mu/-synthesis is designed to achieve joint angle control.