Restricted structure non-linear generalized minimum variance control of a 2-link robot arm

The objective of this paper is to propose a restricted structure non-linear generalized minimum variance (RS-NGMV) controller for a two-link robot arm. The NGMV control is a useful method for offering control solutions for nonlinear systems. The motivation is to provide the advantages of NGMV control inside a low-order controller structure with an intention to enable design simplicity and easy implementation for engineers with classical training. The result will be an optimal controller with simple tuning variables. Simulations of the RS-NGMV controller are presented using Matlab/Simulink