Networked control systems (NCSs) present many advantages such as easy installation and maintenance, flexible layouts and structures of components, and efficient allocation and distribution of resources. Consequently, they find potential applications in a variety of emerging industrial systems including multi-agent systems, power grids, tele-operations and cyber-physical systems. The study of NCSs with nonlinear dynamics (i.e., nonlinear NCSs) is a very significant yet challenging topic, and it not only widens application areas of NCSs in practice, but also extends the theoretical framework of NCSs with linear dynamics (i.e., linear NCSs). Numerous issues are required to be resolved towards a fully-fledged theory of industrial nonlinear NCS design. In this dissertation, three important problems of nonlinear NCSs are investigated: The robust filtering problem, the robust model predictive control (MPC) problem and the robust distributed MPC problem of large-scale nonlinear systems. In the robust filtering problem of nonlinear NCSs, the nonlinear system model is subject to uncertainties and external disturbances, and the measurements suffer from time delays governed by a Markov process. Utilizing the Lyapunov theory, the algebraic Hamilton-Jacobi inequality (HJI)-based sufficient conditions are established for designing the H_infty nonlinear filter. Moreover, the developed results are specialized for a special type of nonlinear systems, by presenting the HJI in terms of matrix inequalities. For the robust MPC problem of NCSs, three aspects are considered. Firstly, to reduce the computation and communication load, the networked MPC scheme with an efficient transmission and compensation strategy is proposed, for constrained nonlinear NCSs with disturbances and two-channel packet dropouts. A novel Lyapunov function is constructed to ensure the input-to-state practical stability (ISpS) of the closed-loop system. Secondly, to improve robustness, a networked min-max MPC scheme are developed, for constrained nonlinear NCSs subject to external disturbances, input and state constraints, and network-induced constraints. The ISpS of the resulting nonlinear NCS is established by constructing a new Lyapunov function. Finally, to deal with the issue of unavailability of system state, a robust output feedback MPC scheme is designed for constrained linear systems subject to periodical measurement losses and external disturbances. The rigorous feasibility and stability conditions are established. For the robust distributed MPC problem of large-scale nonlinear systems, three steps are taken to conduct the studies. In the first step, the issue of external disturbances is addressed. A robustness constraint is proposed to handle the external disturbances, based on which a novel robust distributed MPC algorithm is designed. The conditions for guaranteeing feasibility and stability are established, respectively. In the second step, the issue of communication delays are dealt with. By designing the waiting mechanism, a distributed MPC scheme is proposed, and the feasibility and stability conditions are established. In the third step, the robust distributed MPC problem for large-scale nonlinear systems subject to control input constraints, communication delays and external disturbances are studied. A dual-mode robust distributed MPC strategy is designed to deal with the communication delays and the external disturbances simultaneously, and the feasibility and the stability conditions are developed, accordingly. / Graduate / 0548 / 0544

[pt] Este trabalho tem como objetivos principais a apresentação, análise e síntese de sistemas de controle por realimentação de saídas com características robustas. São consideradas incertezas no modelo do tipo não estruturada ( dinâmica não modelada ) e estruturada ( valores desconhecidos nos parâmetros ), distúrbios ( entradas desconhecidas ) e ruídos no sensor. Ênfase especial é dada ao projeto de sistemas de controle implementados usando observadores de estado, que representam um tipo especial de sistemas de controle por realimentação de saídas. Uma revisão dos principais tipos de observadores é feita, incluíndo observadores robustos com capacidade de rejeição e estimação simultânea de distúrbios, comparando suas características através de um exemplo. Logo após, o sistema resultante, quando observadores de estado são introduzidos na lei de controle, é analisado em presença de incertezas, mostrando a limitação na validade do Princípio da Separação. Técnicas modernas de controle robusto são usadas para melhorar as propriedades de robustez dos sistems de controle, entre elas: Recuperação da Função de Transferência da Malha (LTR) e Controle H-infinito. É mostrado também, que através de uma escolha conveniente dos parâmetros livres do controle LQG, é possível sintetizar controladores robustos. Estas técnicas são usadas para resolver problemas específicos no controle de estruturas flexíveis, incluíndo perturbações na entrada da planta, incertezas paramétricas. As técnicas aplicadas no presente trabalho demonstram eficácia e simplicidade. / [en] This work intends to present an introduction to the analysis and syntesis of output feedback control systems with robust characteristics. They are considered unstructured ans structured model uncertainties, disturbances, unknown inputs and noise. It is given a special emphasys on the control systems which were implemented by the use of state observers, which represents a special type of output feedback control systems. A review of the principais types of observers are done, including robust observers with interesting characteristics such as the capacity of simultaneous rejection and estimation of disturbances, and their features are compared in an example. After that, it is done an analysis of the resultant systems when state observers are introduced in the control system in the presence of uncertainties, showing limitations to apply the Separation Principle. Modern techniques of robust control are used to enhance the properties of robustness of the control systems, such as Loop Transfer Recovery (LTR) technique and H(infinito) control.It is also shown that an adequate choice of the free parameters in the LQC control allows to synthetize robust controllers. These techniques are used to solve specific problems in the control of flexible structures, including disturbances in the plant input, uncertainties caused by unmodeled dynamic in high frequency ( spillover problem ) and parametric uncertainties. The techniques applied in this work show effectiveness and simplicity. / [es] Este trabajo tiene como objetivos principales la presentación, análisis y síntesis de sistemas de control por realimentación de salidas con características robustas. Son consideradas incertidumbres en el modelo del tipo no extructurada (dinámica no modelada) y extructurada (valores desconocidos en los parámetros), distúrbios (entradas desconocidas) y ruidos en el sensor. Se le dedica especial atención al proyecto de sistemas de control que fue implementado utilizando observadores de estado, que representan un tipo especial de sistemas de control por realimentación de salidas. Se realiza una revisión de los principales tipos de observadores, incluyendo observadores robustos con capacidad de rechazo y estimación simultánea de disturbios, comparando sus características a través de un ejemplo. Seguidamente se analiza, en presencia de incertidumbre, el sistema que resulta al introducir observadores de estado en la ley de control, mostrando las limitaciones en la validez del Principio de la Separación. Se utilizan técnicas modernas de control robusto para mejorar las propriedades de robustez de los sistems de control, entre ellas: Recuperación de la Función de Transferencia de la Malla (LTR) y Control H-infinito. Se muestra también, que a través de una selección conveniente de los parámetros libres del control LQG, es posible sintetizar controladores robustos. Estas técnicas se utilizan para resolver problemas específicos en el control de extructuras flexibles, incluyendo perturbaciones en la entrada de la planta e incertidumbres paramétricas. Las técnicas aplicadas en este trabajo demuestran eficiencia y simplicidad.

L'objet de la thèse était la commande d'un système de nano-positionnement par couranttunnel, avec application sur la plateforme expérimentale développée au laboratoire Gipsa-lab.Cette thèse s'inscrit dans le cadre de la commande des systèmes micro et nano-mécatronique,pour des applications en microscopie en champ proche ou dans des systèmes depositionnement ultra-précis. A l'échelle nanométrique, des problèmes de bruits de différentesnatures, vibrations, non-linéarités et instabilité influencent la précision et la qualité de mesuredu système. L'objectif était donc de pouvoir faire face à ces contraintes en utilisant destechniques modernes de commande robuste. Dans cette thèse, un système de mesure à couranttunnel a été modélisé et le problème de contrôle lié aux performances de mesure souhaitées aété formulé. Les performances souhaitées, à savoir la précision de la mesure et le rejet decertaines perturbations avec la robustesse adéquate, ont été atteints en utilisant des lois decommande robuste. Ces lois de commande ont été validées expérimentalement (àl'atmosphère ambiante) sur une plateforme du Gipsa-lab. À la fin de cette thèse, pour uneapplication de scanner de surface à l'échelle atomique, une modélisation dynamique MIMOdu système a été proposée et un régulateur MIMO afin de réduire l'erreur de positionnementdûe au couplage a été validé en simulations. / The objective of this thesis was to control the nano-positioning system using tunneling current with the real-time validation over an experimental platform developed in Gipsa-lab. This thesis lies in the domain of control for micro and nano-mechatronics systems for the applications of scanning probe microscopy and ultra-precise positioning. At nanometer scale, the problems of noise, vibrations, nonlinearity and instability influence the precision of the measurement. The objective was to deal with these constraints by using the modern techniques of robust control. In this thesis, a system of tunneling current measurement has been modelled and the control problem has been formulated in terms of desired measurement performances. Then, robust control design laws are analyzed in order to achieve better performances in terms of measurement precision and rejection of certain disturbances with robustness. These control laws are experimentally validated (at ambient atmosphere) for a platform of Gipsa-lab. At the end of this thesis, a dynamic modelling of MIMO system for an application of scanning the surface with an atomic resolution has been proposed and a MIMO controller in order to reduce the positioning error due to coupling has been validated in simulations.

Networked predictive control is a new research method for Networked Control Systems (NCS), which is able to handle network-induced problems such as time-delay, data dropouts, packets disorders, etc. while stabilizing the closed-loop system. This work is an extension and complement of networked predictive control methodology. There is always present model uncertainties or physical nonlinearity in the process of NCS. Therefore, it makes the study of the robust control of NCS and that of networked nonlinear control system (NNCS) considerably important. This work studied the following three problems: the robust control of networked predictive linear control systems, the control scheme for networked nonlinear control systems (NNCS) and the robust control of NNCS. The emphasis is on stability analysis and the design of robust control. This work adapted the two control schemes, namely, the time-driven and the event driven predictive controller for the implementation of NCS. It studied networked linear control systems and networked nonlinear control systems. Firstly, time-driven predictive controller is used to compensate for the networked-induced problems of a class of networked linear control systems while robustly stabilizing the closed-loop system. Secondly, event-driven predictive controller is applied to networked linear control system and NNCS and the work goes on to solve the robust control problem. The event-driven predictive controller brings great benefits to NCS implementation: it makes the synchronization of the clocks of the process and the controller unnecessary and it avoids measuring the exact values of the individual components of the network induced time-delay. This work developed the theory of stability analysis and robust synthesis of NCS and NNCS. The robust stability analysis and robust synthesis of a range of different system configurations have been thoroughly studied. A series of methods have been developed to handle the stability analysis and controller design for NCS and NNCS. The stability of the closed-loop of NCS has been studied by transforming it into that of a corresponding augmented system. It has been proved that if some equality conditions are satisfied then the closed-loop of NCS is stable for an upper-bounded random time delay and data dropouts. The equality conditions can be incorporated into a sub-optimal problem. Solving the sub-optimal problem gives the controller parameters and thus enables the synthesis of NCS. To simplify the calculation of solving the controller parameters, this thesis developed the relationship between networked nonlinear control system and a class of uncertain linear feedback control system. It proves that the controller parameters of some types of networked control system can be equivalently derived from the robust control of a class of uncertain linear feedback control system. The methods developed in this thesis for control design and robustness analysis have been validated by simulations or experiments.

A presente dissertação tem como objetivo estudar e aprimorar métodos de projetos de controladores para sistemas de potência, sendo que esse trabalho trata da estabilidade dinâmica de sistemas de potência e, portanto, do projeto de controladores amortecedores de oscilações eletromecânicas para esses sistemas. A escolha dos métodos aqui estudados foi orientada pelos requisitos que um estabilizador de sistemas de potência (ESP) deve ter, que são robustez, descentralização e coordenação. Sendo que alguns deles tiveram suas características aprimoradas para atender a esses requisitos. A abordagem dos métodos estudados foi restringida à análise no domínio tempo, pois a abordagem temporal facilita a modelagem das incertezas paramétricas, para atender ao requisito da robustez, e também permite a formulação do controle descentralizado de maneira simples. Além disso, a abordagem temporal permite a formulação do problema de projeto utilizando desigualdades matriciais lineares (LMI’s), as quais possuem como vantagem o fato do conjunto solução ser sempre convexo e a existência de algoritmos eficientes para o cálculo de sua solução. De fato, existem diversos pacotes computacionais desenvolvidos no mercado para o cálculo da solução de um problema de inequações matriciais lineares. Por esse motivo, os métodos de projeto para controladores de saída buscam sempre colocar o problema na forma de LMI’s, tendo em vista que ela garante a obtenção de solução, caso essa solução exista. / The current work aims to study and improve the power system controllers design methods. And we are interested in the dynamic stability of power systems, and thus, in the design of electromechanical oscillations damping controllers. The design methods studied here were chosen to fill the requirements that a power system stabilizer (PSS) must obey, that are robustness, decentralization and coordination. And the characteristics of some of these methods were improved and extended in order to meet these requirements. The approach of the studied methods is restricted to the time domain analysis because of the easiness to model the parametric uncertainties, to meet the robustness requirement, and because it also simplifies the formulation of the decentralized control problem. Moreover the time domain approach allows one to use linear matrix inequalities (LMI’s) to formulate the design problem, which has the advantages that the solution set is always convex, and that there exists efficient algorithms to compute its solution. There are several software packages developed, in the market, to solve the problem of linear matrix inequality. So that the design methods using output controllers always try to formulate this problem in the form of an LMI, because it guarantees that one can obtain a solution for the problem, in the case that this solution exists.

A presente dissertação tem como objetivo estudar e aprimorar métodos de projetos de controladores para sistemas de potência, sendo que esse trabalho trata da estabilidade dinâmica de sistemas de potência e, portanto, do projeto de controladores amortecedores de oscilações eletromecânicas para esses sistemas. A escolha dos métodos aqui estudados foi orientada pelos requisitos que um estabilizador de sistemas de potência (ESP) deve ter, que são robustez, descentralização e coordenação. Sendo que alguns deles tiveram suas características aprimoradas para atender a esses requisitos. A abordagem dos métodos estudados foi restringida à análise no domínio tempo, pois a abordagem temporal facilita a modelagem das incertezas paramétricas, para atender ao requisito da robustez, e também permite a formulação do controle descentralizado de maneira simples. Além disso, a abordagem temporal permite a formulação do problema de projeto utilizando desigualdades matriciais lineares (LMI’s), as quais possuem como vantagem o fato do conjunto solução ser sempre convexo e a existência de algoritmos eficientes para o cálculo de sua solução. De fato, existem diversos pacotes computacionais desenvolvidos no mercado para o cálculo da solução de um problema de inequações matriciais lineares. Por esse motivo, os métodos de projeto para controladores de saída buscam sempre colocar o problema na forma de LMI’s, tendo em vista que ela garante a obtenção de solução, caso essa solução exista. / The current work aims to study and improve the power system controllers design methods. And we are interested in the dynamic stability of power systems, and thus, in the design of electromechanical oscillations damping controllers. The design methods studied here were chosen to fill the requirements that a power system stabilizer (PSS) must obey, that are robustness, decentralization and coordination. And the characteristics of some of these methods were improved and extended in order to meet these requirements. The approach of the studied methods is restricted to the time domain analysis because of the easiness to model the parametric uncertainties, to meet the robustness requirement, and because it also simplifies the formulation of the decentralized control problem. Moreover the time domain approach allows one to use linear matrix inequalities (LMI’s) to formulate the design problem, which has the advantages that the solution set is always convex, and that there exists efficient algorithms to compute its solution. There are several software packages developed, in the market, to solve the problem of linear matrix inequality. So that the design methods using output controllers always try to formulate this problem in the form of an LMI, because it guarantees that one can obtain a solution for the problem, in the case that this solution exists.

abstract: In recent years, wide bandgap (WBG) devices enable power converters with higher power density and higher efficiency. On the other hand, smart grid technologies are getting mature due to new battery technology and computer technology. In the near future, the two technologies will form the next generation of smart grid enabled by WBG devices. This dissertation deals with two applications: silicon carbide (SiC) device used for medium voltage level interface (7.2 kV to 240 V) and gallium nitride (GaN) device used for low voltage level interface (240 V/120 V). A 20 kW solid state transformer (SST) is designed with 6 kHz switching frequency SiC rectifier. Then three robust control design methods are proposed for each of its smart grid operation modes. In grid connected mode, a new LCL filter design method is proposed considering grid voltage THD, grid current THD and current regulation loop robust stability with respect to the grid impedance change. In grid islanded mode, µ synthesis method combined with variable structure control is used to design a robust controller for grid voltage regulation. For grid emergency mode, multivariable controller designed using H infinity synthesis method is proposed for accurate power sharing. Controller-hardware-in-the-loop (CHIL) testbed considering 7-SST system is setup with Real Time Digital Simulator (RTDS). The real TMS320F28335 DSP and Spartan 6 FPGA control board is used to interface a switching model SST in RTDS. And the proposed control methods are tested. For low voltage level application, a 3.3 kW smart grid hardware is built with 3 GaN inverters. The inverters are designed with the GaN device characterized using the proposed multi-function double pulse tester. The inverter is controlled by onboard TMS320F28379D dual core DSP with 200 kHz sampling frequency. Each inverter is tested to process 2.2 kW power with overall efficiency of 96.5 % at room temperature. The smart grid monitor system and fault interrupt devices (FID) based on Arduino Mega2560 are built and tested. The smart grid cooperates with GaN inverters through CAN bus communication. At last, the three GaN inverters smart grid achieved the function of grid connected to islanded mode smooth transition / Dissertation/Thesis / Doctoral Dissertation Electrical Engineering 2017

L'objectif principale de cette thèse est de développer contrôleurs innovants MIMO pour la dynamique véhicule tout en préservant la stabilité du véhicule dans les situations de conduite critiques. Des stratégies de commandes innovatrices ont été introduites pour résoudre cette problématiques. En effet, ces travaux se base sur travaux l'utilisation de la commande LPV/Hinf pour contrôler simultanément les actionneurs de freinage, braquage et de suspensions pour réaliser les objectives du contrôle.Aussi de stratégies d'estimation du profil de route très intéressant et qui peuvent apporter une solution industrielle très intéressante pour développer des contrôleurs qui assurent adaptative aux différentes conditions de route.Aussi des stratégies de commande tolérante aux défauts actionneurs ont été établi en exploitant les caractéristiques de la commande LPV pour compenser la perte de certains actionneurs (en sachant que la voiture est un système sur actionné). Des implémentations ont été effectuées sur des bancs de test et sur un véhicule réel pour prouver l'efficacité des stratégies. / The main issue of this thesis is to work out new Global Chassis MIMO controllers that enhance the overall dynamics of the vehicle while preserving the vehicle stability in critical driving situations. Many innovative strategies have been explored and finalized to deal with these problematics. Various solutions have been given to deal with the vehicle stability and performance objectives. Indeed, many works based on the LPV/Hinf approach have been developed to control simultaneously the braking, steering and suspension actuators. On the other hand, innovative road profile estimation strategies have been introduced and validated via experimental procedures, providing new cheap and easily implementable techniques to estimate the road profile characteristics. Then, the vehicle control is adapted, depending on the road roughness (since it influences greatly the behaviour and the stability of the car). Several fault tolerant control strategies have been also considered to handle the actuators failures while keeping the vehicle stability, safety and enhancing the dynamical behaviour of the car in dangerous and critical driving situations.The general content of this thesisis as follows :-PART I : Theoretical backgrounds and vehicle modeling.-PART II : Road adaptive control vehicle dynamics.-PART III : Global chassis control using several actuators.Also, during this thesis and using the previous works of the advisors and the thesis results, a Matlab ToolBox "Automotive" has been developed to provide a bench test for the different automotive control studies. Implementations on test beds and real vehicle are also achieved to prove the efficiency of the proposed strategies.

Conselho Nacional de Desenvolvimento CientÃfico e TecnolÃgico / Este trabalho visa a aplicaÃÃo dos controles robustos D-LQI e D-AlocaÃÃo de polos otimizados via LMIs em um conversor boost de alto ganho de tensÃo com cÃlula de comutaÃÃo de trÃs estados. Este conversor consiste numa topologia moderna derivada do conversor boost clÃssico. O boost à considerado um elevador de tensÃo, o qual converte uma entrada na faixa de 42-54V à 400 V. O conversor boost proposto à reduzido ao modelo de um conversor equivalente e à modelado no espaÃo de estados mÃdio, em que à observado que a matriz D diferente de zero, sendo entÃo uma modelagem que apresenta uma peculiaridade de acordo com a literatura, pois a soluÃÃo de controle à mais complexa. As estratÃgias de controle aplicadas usam de procedimentos matemÃticos denominados de Desigualdades Matriciais Lineares (LMIs-Linear Matrix Inequalities), que podem ser resolvidos por otimizaÃÃo convexa ou programaÃÃo semidefinida positiva (SDP procedures). As ferramentas matemÃticas utilizadas para resoluÃÃo das LMIs neste trabalho sÃo o Yalmip e Sedumi, que sÃo inseridas no MATLAB . AlÃm disso sÃo analisadas as incertezas presentes no processo, bem como a robustez do modelo em malha fechada. SÃo obtidos os resultados de simulaÃÃo via MATLAB -PSIM e sÃo feitas as anÃlises referentes a estes resultados, alÃm da anÃlise dos resultados experimentais e a conclusÃo do estudo, alÃm das propostas de trabalhos futuros. O ApÃndice mostra os procedimentos de instalaÃÃo dos resolvedores alÃm do uso correto com base nas equaÃÃes descritas na teoria sobre LMIs. / This work involves the application of robust controls D-LQI and D-pole placement via LMIs in a high-gain boost with three states switching cell. This converter consists of a modern topology derived the classic boost converter . This boost converter is considered a step-up converter, which a range of 42-54V voltage input to 400V voltage output. The proposed boost converter is reduced to equivalent model and is modeled at space state avarage, in which is observed that the matrix D not equal nought, being then a modeling that presents a peculiarity according to literature, thus the control solution is more complex. The control strategies applied use mathematical procedures called Linear Matrix Inequalities (LMIs), which can be solved by convex optimization or positive semidefinite procedures (SDP). The mathematical tools used to solve the LMIs this work are Yalmip and Sedumi, which are inserted in MATLAB. Further analyzes the uncertainties present in the process, as well as the robustness of closed loop model. The simulation results are obtained via MATLAB and PSIM and analyzes made regarding these results, besides the analysis of experimental results and conclusion of study, in addition to proposals for future work. The Appendix shows the installation procedures and use correct solvers based on the equations described in LMI theory.

Escavadeiras hidráulicas são máquinas versáteis, amplamente utilizadas na construção civil e mineração. Máquinas melhores, mais produtivas, eficientes e que oferecem segurança ao operador são uma demanda constante da indústria. Devido a estes fatores, o controle para a automação de uma escavadeira hidráulica tem sido investigado. Este estudo tem o seu foco voltado para o controle do manipulador do equipamento, que é considerado como um dos elementos fundamentais para o desenvolvimento de uma escavadeira automática. Para desenvolver um sistema de controle viável, primeiramente, foi realizado a modelagem matemática dos subsistemas mecânico e hidráulico do manipulador; posteriormente esses modelos foram acoplados para representar a interação dos subsistemas. Todos os modelos desenvolvidos foram comparados com modelos de referência, obtidos a partir de softwares comerciais dedicados a modelagem de sistema dinâmicos. Tendo sido verificado a capacidade de representação física dos modelos, a fase de projeto do controlador para o manipulador foi iniciada. Para que o controlador seja eficiente, este deve ter duas propriedades essenciais: robustez para lidar com as incertezas e distúrbios severos, e adaptabilidade para lidar com um ambiente de operação altamente dinâmico. A fim de projetar um controlador que considera a dinâmica de cada subsistema do manipulador, a técnica de controle em cascata foi adotada. Esta consiste em dividir o sistema global em subsistemas, de tal forma que seja possível projetar um controlador para cada subsistema. Devido à complexidade do modelo matemático, técnicas avançadas de controle linear e não linear foram combinadas no projeto dos controladores dos subsistemas. O controlador sintetizado foi testado através de simulação numérica, em ambiente MATLAB/Simulink®, na execução de um ciclo completo de trabalho pelo manipulador. Os resultados obtidos foram considerados satisfatórios, mesmo na presença de incertezas, distúrbios severos e de ruídos. Posteriormente, na comparação desses resultados com os de outros controladores, ficou claro que o melhor desempenho foi obtido com o controlador proposto. Isto indica a possível aplicabilidade de tal controlador para a automação deste tipo de equipamento. / Hydraulic excavators are versatile machines, widely used in civil construction and in mining. Better, more productive, and efficient machines that offer operator safety are a constant industry demand. Due to these factors, the control for the automation of a hydraulic excavator has been investigated. This study focuses on the control of the equipment\'s manipulator, which is considered as one of the fundamental elements for the development of an automatic excavator. To develop a viable control system, first, the mathematical modeling of the mechanical and hydraulic subsystems of the manip-ulator was carried out; later these models were coupled to represent the interaction between the subsystems. All the developed models were compared with reference models, obtained from a commercial software dedicated to dynamic system modeling. Having verified the physical representation capacity of the analytical models, the de-sign phase of the controller was started. For the controller to be efficient, it must have two essential properties: robustness to deal with severe uncertainties and disturb-ances, and adaptability to handle a highly dynamic operating environment. To design a controller that considers the dynamics of each subsystem of the manipulator, the cascade control technique was adopted. This consists of dividing the global system into subsystems, in such a way that it is possible to design a controller for each sub-system. Due to the complexity of the mathematical model, advanced linear and non-linear control techniques were combined in subsystem controllers design. The synthe-sized controller was tested by numerical simulation, in MATLAB/Simulink® environ-ment, in the execution of a complete work operation by the manipulator. The results obtained were considered satisfactory, even in the presence of uncertainties, severe disturbances and noise. Subsequently, in the comparison of these results with those of others controllers, it was clear that the best performance was obtained with the pro-posed controller. This indicates the possible applicability of such a controller to the automation of this type of equipment.