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The controller has three parts: a model\u2010based trajectory generator, an inner loop based on input\u2010output feedback linearization, and an outer loop that stabilizes the internal dynamics (e.g., the flexible modes) using a singular perturbation design. We show how to stabilize the internal dynamics by selecting a physically meaningful modified performance output for tracking; this output is the <jats:italic>slow portion of the link\u2010tip motions.<\/jats:italic> That is, the tracking requirement is relaxed so that the internal dynamics are stabilizable through a boundary layer correction that attenuates the flexible mode vibrations. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110703","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:17:12Z","timestamp":1183735032000},"page":"591-603","source":"Crossref","is-referenced-by-count":94,"title":["Flexible\u2010link robot arm control by a feedback linearization\/singular perturbation approach"],"prefix":"10.1002","volume":"11","author":[{"given":"M. W.","family":"Vandegrift","sequence":"first","affiliation":[]},{"given":"F. L.","family":"Lewis","sequence":"additional","affiliation":[]},{"given":"S. Q.","family":"Zhu","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"A.DasandS. N.Singh \u201cDual mode nonlinear adaptive control and stabilization of an elastic robot arm \u201d Proc. IEEE Conf. Decision and Control 1990 pp.2659\u20132660.","DOI":"10.1109\/CDC.1990.203466"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"D.\u2010S.KwonandW. J.Book \u201cAn inverse dynamic method yielding flexible manipulator state trajectories \u201d Proc. American Control Conf. 1990 pp.186\u2013193.","DOI":"10.23919\/ACC.1990.4790726"},{"issue":"4","key":"e_1_2_1_4_2","first-page":"179","article-title":"Inverse trajectory control and internal dynamics sensitivity of an elastic manipulator,","volume":"6","author":"Madhavan S. 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