Exact high precision control of actuated compliant system

Actuated compliant mechanical system equations are re-analyzed to extend them to possibly large values of the compliance parameter, as required for better control, and are realized with new materials. The usual asymptotic expansion of the singular system structure for a small compliance parameter is shown to be embedded in a more general exact representation which is valid for any value of this parameter, where the compliance variable splits into a main variable and its higher-order variation. The main variable is algebraically determined from a position variable, so it is not possible to act on this variable from the input control without antagonizing the internal system dynamics. A natural control ordering is given for a linear one-link system, but this is extendable both to nonlinear and to general n-link ones