• P-ISSN 0974-6846 E-ISSN 0974-5645

Indian Journal of Science and Technology


Indian Journal of Science and Technology

Year: 2017, Volume: 10, Issue: 39, Pages: 1-11

Original Article

Improved Internal Model based Structure for the Robot Control


An improved IMC based control approach has been proposed for robot manipulator. This approach can be implemented in a procedure composed of some necessary stages to investigate the robust control of initially unstable plants. The simulation results demonstrate the robustness of the proposed controller even in the case of the presence of strong and nonlinear external disturbances . 

Keywords: Internal Model Control, Robot Manipulator, Stabilization, Trajectory Tracking


Subscribe now for latest articles and news.