For the trajectory tracking control problem of nonlinear systems, the most basic and classic strategy may#R##N##R##N#be applying the linear control technique to a linear time-varying approximate model around some desired#R##N##R##N#trajectory. However, this method is not commonly used because the design of a linear time-varying controller#R##N##R##N#is not simple. The authors proposed the simple design method of the pole placement controller for linear#R##N##R##N#time-varying discrete systems. In this paper, to show the applicability of the proposed linear time-varying#R##N##R##N#discrete pole placement technique to the trajectory tracking control problem of nonlinear systems, we apply#R##N##R##N#this control method to actual 2-link robot manipulator and present the experimental results.
['Yasuhiko Mutoh', 'Masakatsu Kemmotsu', 'Lisa Awatsu']
Trajectory Tracking Control of Robot Manipulators using Discrete Time-varying Pole Placement Technique