Improved Results on Robust Stability Analysis and Stabilization for a Class of Uncertain Nonlinear Systems

Table 1

Nominal values of the system parameters.

Link inertia, 𝐼	0.031 Kg.m^2
Rotor inertia, 𝐽	0.004 Kg.m^2
Rotor friction, 𝐵	0.007 N.m.sec/rad
Nominal load, 𝑀𝑔𝑙	0.8 N.m
Joint stiffness, 𝑘	31.0 N.m/rad