Experimental Analysis of Disturbance Damping Performance of Homogeneous Finite-Time Control Using Frequency Response

Abstract

This paper discusses the robustness of the performance of the closed loop system for a homogeneous finite time proportional-derivative control (FT-PD control) of a one-link robot manipulator. We show that FT-PD control's disturbance rejection performance of low frequency is superior to the conventional PD control via the describing functions estimated by an experiment.