Mustefa  Jibril, Messay  Tadese, Reta  Degefa, 
    Position and Speed Control of 2DOF Industrial Robotic Arm using Robust Controllers,
    Journal of Engineering and Applied Sciences,
    Volume 15,Issue 24,
    2020,
    Pages 3765-3769,
    ISSN 1816-949x,
    jeasci.2020.3765.3769,
    (https://makhillpublications.co/view-article.php?doi=jeasci.2020.3765.3769)
    Abstract: In this study, a 2 DOF industrial robotic arm is
designed and simulated for elbow and wrist angle and
velocity performance improvement using robust control
method. Mixed H2/H∞ synthesis with regional pole
placement and H2 optimal controllers are used to improve
the system output. The open loop response of the robot
arm shows that the elbow and wrist angles and velocities
need some improvement. Comparison of the proposed
controllers for an impulse and step input signals have
been done and a promising results have been obtained.
    Keywords: Industrial robotic arm;Mixed H2/H∞ synthesis with regional pole placement controller;H2 optimal controller