Robust state estimation and control of a single link manipulator with flexible joint

In this paper a robust estimation and control method is proposed and applied to the single link manipulator with flexible joint. The robust observer is constructed in terms of the variable structure system for the single input single output high order nonlinear dynamic systems. Based upon the robust estimation results, either conventional control methods (e.g. the pole-placement) or robust control methods such as the variable structure control methods, can be successfully applied