Multiplicative Effect by Combining IMC Design with Limiting Properties of LQR and Its Application to Trajectory Tracking Control

Abstract

In this paper, a control method for trajectory tracking control is discussed. The control method which has a multiplicative effect on disturbance decoupling is derived by combining the internal model control (IMC) and limiting properties of LQ control. Then the proposed control is applied to trajectory tracking for a two links robot manipulator. Experimental results show that the proposed method is effective on robot trajectory control.