/spl Hscr//sub 2/ decoupling control and its application with limiting properties to robot manipulator

Abstract

In this paper, a decoupling control for a nonminimum phase system is considered from a limiting form of a linear optimal regulator problem point of view. It is shown that an explicit relationship between the limiting properties by letting the weighting matrix of the output vector tend to infinity and a decoupling control. It also gives an experimental application to a robot manipulator to illustrate effectiveness on decoupling control with the limiting properties.