In this paper, a practical procedure for linear parameter-varying (LPV) modeling and
identification of a robotic manipulator is presented, which leads to a successful experimental
implementation of an LPV gain-scheduled controller. A nonlinear dynamic model of a two-
degrees-of-freedom manipulator containing all important terms is obtained and unknown
parameters which are required to construct an LPV model are identified. An important tool
for obtaining a model of complexity low enough to be suitable for controller synthesis is the …