The minimal controller synthesis (MCS) algorithm (1) is a novel form of adaptive control, which has been shown to be particularly effective in a number of diverse areas (2). In particular, the problem of general manipulator control, using MCS, has been successfully analysed and simulated in previous works (3, 4). The intention of this paper is to provide the first implementation results of MCS upon a manipulator. It is shown that MCS produces results that are far superior to those produced by an equivalent conventional (linear) control algorithm.
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