Nonlinear control of a one flexible link in the vertical plane

The aim of this work is to present an algorithm for selecting a noncollocated output for a one flexible link that insures a trajectory tracking while maintaining the vibration of the link bounded. The flexible link is moving in the vertical plane, its model is hence non linear. Passivity is used as criteria for selecting the closest output to the tip resulting in a passive input-output relation while maintaining the asymptotic convergence of the link´s vibration. The output is parameterized by a real parameter. A criteria is given for selecting the parameterized output.