H∞ Control of Single-Link Flexible Joint Manipulator: One-Sided Lipschitz Approach

In this paper the issue of H
∞
control for a class of one-sided Lipschitz (OSL) nonlinear systems is investigated. At first, the model of a single-link flexible joint manipulator (SLFJM) is presented. then, a decoupling between Lyapunov and system matrices is used to formulate a less-conservative analysis condition. Thereafter, the control gain which guarantees asymptotic stability and H
∞
disturbance attenuation performances is determined through LMI formulation. At last, the proposed approach is proved via the simulated behaviour of the controlled SLFJM system.