IEEE Transactions on Automatic Control, Vol.43, No.7, 1008-1012, 1998
Generalization of integral constraints on sensitivity to time-delay systems
In the above-mentioned paper,(1) a robust tracking control using a nominal feedback controller and a variable structure compensator for a rigid robotic manipulator with uncertain dynamics was presented. Some comments on this issue are made here to point out a serious mistake and the untenable main results in the paper.