中文摘要：

为了解决基于信号补偿的鲁棒控制方法在实际系统中的设计和实现问题，将该方法应用于实际机械臂系统的控制器设计。在分析了实际控制器设计与理论设计之间的差异的基础上，针对实际系统对控制器设计的约束，提出了可采取的措施，并提出了相应的控制器设计及调节方法，即首先设计单关节子系统标称控制器和鲁棒补偿器，然后再进行多关节鲁棒控制器的统调。将该方法用于实际的二自由度平面机械臂系统的鲁棒控制器设计，进行了物理实现和控制实验，获得了期望的控制结果。

英文摘要：

Robust control methods based on signal compensation are applied to design for real manipulator systems, Analyses of the limitations of controller designs for real systems was used to develop a controller design method and adjustment procedure. Robust compensators are first designed for joint subsystems with the robust controllers then tuned for the whole manipulator. The method gave good results when applied to the design of a robust controller for a real two degree-of-freedom manipulator system.