obot control, a subject aimed at making robots behave as desired, has been
extensively developed for more than two decades. Among many books being
published on this subject, a common feature is to treat a robot as a single
system that is to be controlled by a variety of control algorithms depending on
different scenarios and control objectives. However, when a robot becomes more
complex and its degrees of freedom of motion increase substantially, the needed
control computation can easily go beyond the scope a modern computer can
handle within a pre-specified sampling period. A solution is to base the control
on subsystem dynamics.
Multiple-Input Multiple-Output (MIMO) systems have recently been the
subject of intensive consideration in modem wireless communications as they
offer the potential of providing high capacity, thus unleashing a wide range of
applications in the wireless domain. The main feature of MIMO systems is the
use of space-time processing and Space-Time Codes (STCs). Among a variety
of STCs, orthogonal Space-Time Block Codes (STBCs) have a much simpler
decoding method, compared to other STCs
