Study of a nonlinear control system for unbalanced two-link mechanism

In this paper controlled motion of an unbalanced two-link mechanism is discussed. Taking into account that contact with the supporting surface imposes unilateral constraints on the mechanical system, a control system structure with multiple feedback loops is proposed. Proposed control system changes control strategy when mechanism loses contact with the supporting surface. The influence that nonlinearities have on the controlled motion of the system is discussed. Particular attention is given to nonlinearities introduced by digital components of the control system.