This paper presents a robust vibration control for SCARA-type robot manipulators. Some nonlinear terms in the model of robot manipulators are compensated for by nonlinear feedbak, while th others together with parameter variations, are treated as disturbances. μ-synthesis, which combines the structured singular value and H∞ control to design controllers for plants with structured uncertainty, is applied to design a feedback controller that achieves robust stability and robust performance. Then, by the model-matching method, a feedforward controller is designed to further improve the reference input tracking. Finally, simulation and experiments are conducted to check the effetiveness of the proposed control scheme.

This paper presents a novel adaptive decoupling controller for general stochastic multivariable systems with arbitrary time delay structure. The decoupling controller is constructed using a diagonal dynamic precompensator to diagonalize the system interactor matrix and then combining the feed for ward control strategy and the generalized minimum variance approach. It cannot only control unstable and/or non-minimum phase processes but also decouple the closed-loop systems both dynamically and in the static state. It is adaptively implemented in direct form. The global convergence properties and parameter estimate consistency for this adaptive decoupling algorithm are also discussed. It is shown that this adaptive controller not only has globally convergent properties but also generates strongly consistent parameter estimates. The results of simulations and an application are proposed to demonstrate the effectiveness of the algorithm.

For many multivariable systems, because of the strong cross coupling between controlled variables, it is important to design the decoupling controller. This paper presents a decoupling design of multivariable generalized predictive control by combining feed-forward control with multivariable generalized predictive control, which can realise decoupling control for systems with arbitrary time delay structure.

针对复杂工业过程具有多变量强耦合、非线性、参数时变特点，基于常规解耦控制技术的控制系统无法应用的问题，讨论了多变量智能解耦控制方法，并进行了工程化研究，提出了具有三级控制结构的基于分布式计算机控制系统（DCS）的多变量智能解耦控制技术。最后介绍了多变量智能解耦控制技术的复杂工业过程中成功应用的实例。

Optimization is one of the key technologies of realizing CIMS for continuous processes. But for many industries in China, the quality of raw materials cannot be guaranteed, production circumstance is execrable and the boundary condition is sharp, so the traditional optimization methods are unable to wswolve the problem of their optimal-setting control. In this paper, a method of optimal-setting control based on integrated control is presented and employed to a sixc-zone walking beam (WB) reheat furnace. It has been proved this method can improve the slab heating quality and save energy greatly.