Science and Education Publishing Automatic Control and Information Sciences 2 3 2014 07 15 Robust Lead Compensator Design for an Electromechanical Actuator Based on H∞ Theory 53 58 EN Rafik Salloum Faculty of Electrical Engineering, Malek-Ashtar University of Technology (MUT), 15875-1774, Tehran, Iran Mohammad Reza Arvan Bijan Moaveni ACIS2014232 10.12691/acis-2-3-2 2014 07 01 2014 07 10 2014 07 15 In this paper, we design a robust lead compensator for a real Electromechanical Actuator (EMA) harmonic drive by introducing an approach based on Hޡ control theory. Here, we address three main topics; experimental identification, uncertainty modelling, and robust control design for a real EMA harmonic drive system. This method verifies good tradeoff between the powerful Hޡ controller and the unique features of compensators, such as: simplicity, low cost and easy implementation. The Hޡ controller and the extracted compensator are almost identical within the EMA bandwidth range. Simulation and test results prove the effectiveness of the proposed approach and the superiority of the performance of the designed robust EMA with lead compensator based on Hޡ controller over the original EMA; this preference is pertaining to its robustness to parametric uncertainties and high performance.