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This article explains the obtaining of a dynamic system which corresponds to a manipulator with two degrees of freedom "Elbow", which shows the linearization around several operating points of nonlinear system. Also indicate how the combined strategy and apply the gain scheduling with linear matrix inequalities (LMI's). The simulation of non-linear system was performed with a block called S-Functions and the control law was made in simulink of MATLAB® software. The animation of the dynamic system with the controller was done with software Easy Java Simulation (EJS).
Latin America Transactions, IEEE (Revista IEEE America Latina) (Volume:10 , Issue: 2 )
Date of Publication: March 2012