Predictive function control of the single-link manipulator with flexible joint

Predictive function control strategy of the single-link manipulator with flexible joint is presented. The design process includes following three steps. First, the basic idea of feedback linearization is to construct a nonlinear control law as a so-called inner loop control which, in the ideal case, exactly linearizes the nonlinear system after a suitable state space change of coordinates. A second stage or outer loop control in the new coordinates is designed to satisfy pole displacement specification, such as tracking. The third stage is designed to use predictive function control for disturbance rejection and uncertainty, no perfect linearization and so forth.