On Positioning and Vibration Control Application to Robotic Manipulators with a Nonideal Load Carrying

Algorithm 1

Calculation of control vector K_k for control DSDRE.

	Data: Continuous time variables A, B, Q, R, Pk−1
	Results: Kk control vector
	Initiating;
	Read the arrays A, B, Q, R, Pk−1;
	if  = n then
	while do
	Calc Matrix Ak and Bk;
	Calc Pk in equation (28);
	Find the controller gains;
	end
	else
	end