PID feedback for mixed H2/H∞ tracking control of robotic manipulators

The design objective of a mixed H2/H∞ control is to find the H2 optimal control law under aprescribed disturbance attenuation level. This paper addresses a optimal PID control law on the basis of the newsolution to mixed H2/H∞ optimal control problem that provide much more flexible design compared to the existing works. Then a closed-form PID controller to mixed H2/H∞ robotic tracking problem is simply constructed and hence the design procedure is presented. Finally, numerical simulations illustrate the effectiveness of the optimal PID feedback design proposed in this paper via a two-link robotic manipulator.