{'fraction_non_alphanumeric': 0.015086206896551725, 'fraction_numerical': 0.0, 'mean_word_length': 5.118421052631579, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
IMC design with limiting properties of LQR and its application to trajectory tracking control

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