H∞ control of a SCARA robot using polytopic LPV approach

This paper investigates the H
_∞
control of robotic system presenting a linear parameter varying (LPV) representation. From a usual Lagrangian equation of the system, its LPV representation is given and is reduced to a polytopic one. Then recent developments on polytopic LPV H
_∞
approach are used to design a state feedback controller for the robotic system. The approach is extended to take into account pole placement requirements