Publisher’s description: This original monograph approaches robust control, design, and performance using unified theory and analysis. Key features include a unique focus on robustness flexibility, uncertainties, unmodeled dynamics, sampling, measures against saturation in controllers and actuators, and geometrical interpretations and simulations.
Contents include Introduction; Robot Dynamics; Mathematical Preliminaries; Common Control Strategies; Nonlinear Control Strategies; Robust State-Feedback Control; Robust Input-Output Control; Transient Performance Analysis; Discrete Implementation of Continuous Control.