IMPROVEMENT OF ROBUST DIGITAL-CONTROL BY IDENTIFICATION IN THE CLOSED-LOOP - APPLICATION TO A 360-DEGREES FLEXIBLE ARM

This paper presents a procedure for the improvement of identification results from open-loop experiments by identification in a closed loop without modification of the identification protocol. Several available identification algorithms are considered, and two methods for the val idation of the model identified in a closed loop are introduced. As a consequence, an improved robust controller is obtained. Results are pr esented from experiments on a very flexible 360 degrees arm.