Sharif University of TechnologySharif Journal of Mechanical Engineering2676-47252340.220080220DEVELOPMENT OF A NEW METHOD FOR DESIGN OF ADAPTIVE LEAD-LAG CONTROLLERSDEVELOPMENT OF A NEW METHOD FOR DESIGN OF ADAPTIVE LEAD-LAG CONTROLLERS1371425667FAA. NassirharandFaculty of Aerospace Engineering Shahid Beheshti UniversityH. KarimiDept. of Aerospace Engineering Khaje Nasir Toosi University of TechnologyJournal Article20110306A new method for the design of self-tuning adap tive lead-lag compensators is developed . The appli cation of this method to a nonlinear robot system, where a linear control theory has not been success ful, is presented . The self-tuning block uses a set of linear algebraic equations to solve for compen sator paramet ers. This control strategy takes into account the nonlinear terms of the system and the application of this method reduces the manufactur ing costs of automatic control systems that have high accurae.y and perform ance.A new method for the design of self-tuning adap tive lead-lag compensators is developed . The appli cation of this method to a nonlinear robot system, where a linear control theory has not been success ful, is presented . The self-tuning block uses a set of linear algebraic equations to solve for compen sator paramet ers. This control strategy takes into account the nonlinear terms of the system and the application of this method reduces the manufactur ing costs of automatic control systems that have high accurae.y and perform ance.https://sjme.journals.sharif.edu/article_5667_2696a25ddd94a29cbf0a7356add2b676.pdf