A controller based on inverse system has no countermeasure against modeling error of a control object. On the other hand, one of limiting properties of the linear optimal control by letting a weighting matrix of cost functional tends to infinity has disturbance decoupling property. In this paper, a trajectory tracking control method is proposed by combining an approach based on inverse system with limiting properties of the linear optimal control. The proposed method is applied to trajectory tracking control of two links robot manipulator. Comparative numerical simulations and experiments confirm effectiveness on trajectory tracking control.
