Abstract In this paper we present a standard robust control strategy to deal with uncertainties in scissor-like elements (SLE) systems. The dynamic equation is obtained by system identification theory and simplified into a mass-spring-damper (MSD) model. The desired performance can be obtained if the closed-loop poles are adequately allocated in the complex plane. A linear matrix inequality (LMI) based on Lyapunov stability and stabilization theorems are employed to that. This techique is applied and tested in practical mechatronic examples based on SLE mechanisms.

中文翻译：

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基于剪刀状元件的系统的鲁棒控制

摘要 在本文中，我们提出了一种标准的鲁棒控制策略来处理类剪刀元件 (SLE) 系统中的不确定性。动力学方程通过系统辨识理论得到，并简化为质量-弹簧-阻尼器（MSD）模型。如果在复平面中充分分配闭环极点，则可以获得所需的性能。基于李雅普诺夫稳定性和稳定性定理的线性矩阵不等式 (LMI) 被用于此。该技术已在基于 SLE 机制的实际机电一体化示例中得到应用和测试。