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'''Coefficient diagram method''' (CDM), developed and introduced by Prof. Shunji Manabe<ref>[http://www.cityfujisawa.ne.jp/~manabes/ Prof. Shunji Manabe]</ref> in 1991. CDM is an [[algebraic]] approach applied to a [[polynomial]] loop in the parameter space, where a special diagram called a [[coefficient diagram]] is used as the vehicle to carry the necessary information, and as the criteria of good design.<ref>S. Manabe (1998), ''Coefficient Diagram Method'', 14th IFAC Symp. on Automatic Control in Aerospace, Seoul.</ref> The performance of the closed loop system is monitored by the coefficient diagram. The simplicity of the controller structure made it very powerful for systems with uncertainties such as robotic manipulators.<ref>A. Ucar [[http://tr.wikipedia.org/wiki/Ahmet_U%C3%A7ar_%28akademisyen%29]]and S.E. Hamamci (2000), ''A Controller Based on Coefficient Diagram Method for the Robotic Manipulators'', ICECS2K The 7th IEEE Int.Conf. on Electronics, Circuits & Systems,, Kaslik, Lebanon.</ref>
Generally, the problem of a [[control system]] design consists of choosing a proper controller considering the system dynamics, which is to be controlled, and desired performance specifications. There are three main theory for a design procedure: Conventional Control Theory, Modern Control Theory and Algebraic Approach. The main difference among these theories is the design approach used to obtain the controller and the mathematical expressions used to represent the system.
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