The [http://http://web.inonu.edu.tr/~shamamci/mra_cdm.htm Coefficient Diagram Method] (CDM), recently developed and introduced by [http://www.cityfujisawa.ne.jp/~manabes/ Prof. Shunji Manabe] in 1991. CDM is an algebraic approach applied to polynomial loop in the parameter space, where a special diagram called coefficient diagram is used as the vehicle to carry the necessary information, and as the criteria of good design (Manabe,1998). The performance of the closed loop system is monitored on coefficient diagram. The simplicity of the controller structure made it very powerful for systems with uncertainties such as robotic manipulator (Ucar and Hamamci, 2000).
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3. S. Manabe, "A low cost inverted pendulum system for control system education", The 3rd IFAC Symposium on advances in Control Education, Tokyo, 1994.
