... the integrated control and monitoring software for the unit production system, which corresponds to the current hardware. The software consists of three core parts: control and monitoring programme, ... which includes the conveyor system and workstations, the integrated control and monitoring system, the manufacturing execution system. The hardware of the integrated control and monitoring system ... Abstract The computed torque method is very popular in modern in orbot control. The computed torque method involes computation and cancellation of all non-linearities and cross-coupling terms....