Example 1.

3: Consider the mathematical model of a single-link robotic manipulator with a exible joint (Spong and Vidyasagar, 1989)

where are angular positions, are moments of inertia, and are, respectively, the links mass and length, and is the links spring constant. Introducing the change of variables as

the manipulators state space nonlinear model equivalent to (1.66) is given by

In Spong (1995) the following numerical values are used for system parameters: . Assuming that the output variable is equal to the links angular position, that is

4 93

e @ 74

d3

the matrices

and

, dened in (1.76), are given by

Take the nominal points as dened in (1.71) are given by

, then the matrices

and

4 4 c ` T @ 4 4 3 4 abb 4

0 G3 FA @ 0 53 %A @ C3 0 A @ 93 A B E D B 2 V 8 FV E A FV D A FX0 A FW A $ @ @ @ V @ V 6 6 8 TUS2 D A ' A $ 3 E B A " E A 3 D BA 2 D A '( A $ A RQ '  ' 3 IH0 B A "  %P 0 A 3 BA d ' d 4 4 A 3 T4 4 4 d c Y 4 x w vtsq i h f d yXuQ rpSge' 3 4 abb 4 3 4FU" @ T 3 6 3 @ %P 3 

" 6@ 8 3 972 0 )' &%#' 0 6 $ " 4 3 2 0 ' $ "    51)( &%#! 

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