Model reference adaptive H∞ control for flexible arms by finite dimensional controllers

The problem of constructing model reference adaptive H_∞ control for flexible arms is considered in this manuscript. Control schemes of flexible arms are mixed parameter systems composed of distributed parameter systems of hyperbolic type (flexible arms) and lumped parameter systems (motor control systems). Owing to infinite dimensional modes of distributed parameter systems, control of those complex systems is a difficult problem. A stabilizing control signal is added to regulate the effect of infinite dimensional modes, and it is derived as a solution of certain H_∞ control problem where the effect of infinite dimensional modes are considered as external disturbances to the process.