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Linear control of a flexible arm system: Comparison of H∞ and loop transfer recover methods-application to an experimental arm

In this paper, a one link flexible manipulator is modeled and controlled. Linear model is first presented. Two different controllers are designed and applied to the developed model: the first one is based on Linear Quadratic Gaussian/Loop Transfer Recover (LQG/LTR) method; the second one is based on the H-infinity method. The two controllers are applied in real time on a physical system and the experimental results are compared.