Abstract
In this paper, an angle tracking (position control) problem of a planer manipulator by digital feedback control is considered. It is well known that the angle tracking is accomplished by continuous-time PD feedback control, however, the stability is not guaranteed any more with digital implementation of the PD control law. In fact, unstable response is observed with larger PD gains. In this paper a stability condition for a manipulator with digital PD feedback control is derived. The usefullness of the derived condition is also demonstrated through experimental examples.
