Robust PID design of flexible manipulators through pole assignment

A robust pole placement design method is given that satisfies given specified closed loop performance for a motion control system with uncertain process parameters. Complex plane specifications on the nominal closed loop poles are calculated from maximum trajectory deviations and maximum amplitude on the sensitivity function. The design problem is solved by calculating bounds on the control parameters that satisfies the complex plane specification for the closed loop system, for all vertices of the uncertain parameter space.