Rossini, F. L.Gaino, R.Teixeira, M. C. M. [UNESP]Assunção, E. [UNESP]Cardim, R. [UNESP]Covacic, M. R.2015-10-222015-10-222015-05-01Ieee Latin America Transactions. Piscataway: Ieee-inst Electrical Electronics Engineers Inc, v. 13, n. 5, p. 1321-1330, 2015.1548-0992http://hdl.handle.net/11449/129777This article discusses the design of robust controller applied to Wheelchair Furniture via Linear Matrix Inequalities (LMI), to obtain Strictly Positive Real (SPR) systems. The contributions of this work were the choice of a mathematical model for wheelchair: mobile with uncertainty about the position of the center of gravity (CG), the decoupling of the kinematic and dynamical systems, linearization of the models, the headquarters building of parametric uncertainties, the proposal of the control loop and control law with a specified decay rate.1321-1330porRobust controllerWheelchair furnitureDecoupling of systemsControl loopLMIArtigoWOS:000355213400011Acesso restrito50620873805714620000-0002-1072-3814