Realization Error of Higher Degree Dynamic Controller Using Common Linux

Abstract

This paper discusses realization error of higher degree dynamic controller using common Linux. Firstly, we develop a controller using common Linux and show its period of process execution. Secondly, we design H_∞ controller for 2-joint-system of a heavy material handling agricultural robot to achieve robust stability and nominal performance. Finally, we conduct a control experiment and confirm the realization error of the designed and realized controller.