Design procedures based on exact eigenstructure assignment are not suitable because of very high computational requirements. A computation-effective control design procedure for eigenstructure assignment using aggregation is presented. Dominant eigenvalues are placed at specified locations in the complex plane and the non-dominant eigenvalues are placed in a specified disk. The proposed design procedure is applied to the trajectory tracking problem of a robot manipulator. An error-pattern based payload estimation and compensation scheme is also proposed to improve performance robustness. © 1993 Taylor & Francis Group, LLC.

Madan Gopal

Electrical Engineering

(SoE) School of Engineering

A. Swarup

<p>Shiv Nadar University is a comprehensive, multidisciplinary, research-focused, and student-centric University offering a full range of academic programs at the undergraduate, postgraduate and doctoral level. With state-of-the-art infrastructure, the University comprises of academic wings, sophisticated labs, international standard sports facilities, amphitheaters, auditorium, conference rooms and smart classrooms. The University&rsquo;s goal is to become internationally recognized for the quality of its research and creative endeavors and their applicability to improving quality of life, generating new insights and expanding the boundaries of human knowledge creativity. Committed to excellence in teaching, research and service, the University aims to serve the higher education needs of India and the world beyond.</p>