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Analytic algebraic Riccati solution for a robust control system: application to 2-DOF arm robot.

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Title: Analytic algebraic Riccati solution for a robust control system: application to 2-DOF arm robot.
Authors: Meriem, Menad1 meriem.menad@univ-usto.dz, Zoubir, Ahmed Foitih1 ahmedfoitihzoubir@univ-usto.dz, Abdellah, Mokhtari2 abdellah.mokhtari@univ-usto.dz
Source: International Journal of Electrical & Computer Engineering (2088-8708). Jun2026, Vol. 16 Issue 3, p1159-1174. 16p.
Subjects: Riccati equation, Robust control, Manipulators (Machinery), Orthogonalization, Backstepping control method, Industrial robots, Eigenanalysis
Abstract: An analytic solution to the Riccati algebraic equation has been investigated by employing eigenvalue-eigenvector techniques combined with the Gram-Schmidt orthogonality process. An analytic solution to the Riccati algebraic equation has been investigated by employing eigenvalue-eigenvector techniques combined with the Gram-Schmidt orthogonalization process. The applied method is used to improve robust control of second and thirdorder state-dependent systems by handling nonlinearities. An H8 controller is designed in this context via backstepping technique to enhance robustness and reduce computational effort. The effectiveness of this method has been demonstrated on a two-degree-of-freedom (2-DOF) robotic manipulator arm. Simulation results validate the performance of the controller, showing improved tracking accuracy, disturbance rejection, and overall system stability, thereby confirming the efficiency and applicability of the combined analytic Riccati algebraic equation and H8 backstepping approach for nonlinear robotic systems. [ABSTRACT FROM AUTHOR]
Copyright of International Journal of Electrical & Computer Engineering (2088-8708) is the property of Institute of Advanced Engineering & Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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  Data: Analytic algebraic Riccati solution for a robust control system: application to 2-DOF arm robot.
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  Data: <searchLink fieldCode="DE" term="%22Riccati+equation%22">Riccati equation</searchLink><br /><searchLink fieldCode="DE" term="%22Robust+control%22">Robust control</searchLink><br /><searchLink fieldCode="DE" term="%22Manipulators+%28Machinery%29%22">Manipulators (Machinery)</searchLink><br /><searchLink fieldCode="DE" term="%22Orthogonalization%22">Orthogonalization</searchLink><br /><searchLink fieldCode="DE" term="%22Backstepping+control+method%22">Backstepping control method</searchLink><br /><searchLink fieldCode="DE" term="%22Industrial+robots%22">Industrial robots</searchLink><br /><searchLink fieldCode="DE" term="%22Eigenanalysis%22">Eigenanalysis</searchLink>
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  Label: Abstract
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  Data: An analytic solution to the Riccati algebraic equation has been investigated by employing eigenvalue-eigenvector techniques combined with the Gram-Schmidt orthogonality process. An analytic solution to the Riccati algebraic equation has been investigated by employing eigenvalue-eigenvector techniques combined with the Gram-Schmidt orthogonalization process. The applied method is used to improve robust control of second and thirdorder state-dependent systems by handling nonlinearities. An H8 controller is designed in this context via backstepping technique to enhance robustness and reduce computational effort. The effectiveness of this method has been demonstrated on a two-degree-of-freedom (2-DOF) robotic manipulator arm. Simulation results validate the performance of the controller, showing improved tracking accuracy, disturbance rejection, and overall system stability, thereby confirming the efficiency and applicability of the combined analytic Riccati algebraic equation and H8 backstepping approach for nonlinear robotic systems. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of International Journal of Electrical & Computer Engineering (2088-8708) is the property of Institute of Advanced Engineering & Science and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.11591/ijece.v16i3.pp1159-1174
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      – Code: eng
        Text: English
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        PageCount: 16
        StartPage: 1159
    Subjects:
      – SubjectFull: Riccati equation
        Type: general
      – SubjectFull: Robust control
        Type: general
      – SubjectFull: Manipulators (Machinery)
        Type: general
      – SubjectFull: Orthogonalization
        Type: general
      – SubjectFull: Backstepping control method
        Type: general
      – SubjectFull: Industrial robots
        Type: general
      – SubjectFull: Eigenanalysis
        Type: general
    Titles:
      – TitleFull: Analytic algebraic Riccati solution for a robust control system: application to 2-DOF arm robot.
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            NameFull: Meriem, Menad
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            NameFull: Zoubir, Ahmed Foitih
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            – D: 01
              M: 06
              Text: Jun2026
              Type: published
              Y: 2026
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            – TitleFull: International Journal of Electrical & Computer Engineering (2088-8708)
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