Generalized proportional integral control of rigid robots

In this article, a generalized proportional integral (GPI) control scheme is presented for the stabilization and robust rest-to-rest trajectory tracking in rigid robots. The feedback scheme only requires measurement of joints angular position and it is shown to be robust with respect to constant but unknown torque disturbances. Controller gains are chosen in such a way they have to suitably place eigenvalues of a matrix, i.e., gain selection is similar to a linear design problem. Some simulations are presented to verify the good performance.