Asst.Prof.Dr.Safana Rafat, a lecturer at system and control engineering department in the university of technology jointly with the researcher Hussein Adnan form Al-Hussein private collage in Karbala published a scientific research in scientific and technology journal titled ( Robust controller analysis and design of medical haptic control system).

The researcher here determines haptic interfaces for medical simulation that proved to be especially useful for training in minimally invasive procedures.  In this research, a framework that consists of relevant representation of operator and a dynamic environment of a tele-mainipulated hapic system is implemented. The uncertain model of the operator and environment studying the influence on the aspects of stability and performance. H∞ framework loop shaping robust controller designed is applied, then the stability and performance analysis is investigated.

The obtained value of the gab 0.1112 for the controller 9.755 and 10-4 for the slave parts of the hapic system which indicate improved robustness of stability and performance as compared with the obtained values from parametric robust controllers design..