This is the repository of the project "Design of Nonlinear Controllers for Trajectory Tracking of a Haptic Robot." The content of each section is as follows:

In this section, the eigen values of the nonlinear system is obtained.

In this section, the nonlienar system is linearized, and the linearized system is obtained.

In this section, a feedback linearization controller is designed for the nonlinear system.

In this section, a back-stepping controller is designed for the nonlinear system.

In this section, a sliding mode controller is designed.

In the last section, an industrial controller, which is PD, is designed.