Integral Fast Output Sampling control for Flexible Link Manipulators with LMI approach

An Integral Fast Output Sampling (IFOS) control for controlling the tip position of single link Flexible manipulator which is a multivariable system has been presented. Fast output sampling scheme eliminates the need of an observer required for the estimation of internal states of the system. The gain of the IFOS controller is obtained by solving system of Linear Matrix Inequalities (LMI's) using CVX optimization toolbox. Modelling of Flexible Link Manipulator (FLM) system has been presented. IFOS control scheme is compared with an observer based discrete time state feedback strategy.