Robust MIMO model following with application to trajectory motion control of robot arms

A model reference control (MRC) is studied for linear multi-input, multi-output systems with unknown dynamics. The control generates an estimate of an equivalent disturbance acting on the system, by the mechanism of time delay, and uses the estimate as a compensation signal. The analysis is presented in discrete time using the Euler operator. Experimental tests on the trajectory motion control of a two-degree of freedom SCARA robot are provided to corroborate the theoretical results.<>