An Analysis of the Inverse Kinematics for a 5-DOF Manipulator

In this paper, H state feedback control with delay information for discrete systems with multi-time-delay is discussed. Making use of linear matrix inequality (LMI) approach, a time-delay-dependent criterion for a discrete system with multi-time-delay to satisfy H performance indices is induced, and then a strategy for H state feedback control with delay values for plant with multi-time-delay is obtained. By solving corresponding LMI, a delay-dependent state feedback controller satisfying H performance indices is designed. Finally, a simulation example demonstrates the validity of the proposed approach.