Noncollocated passive transfer functions for a flexible link robot

We apply the concept of passivity to control the position of one link flexible robot using the input torque at the base. Since the choice of the tip position as an output leads to a nonpassive transfer function, we propose a new choice for the output, namely the noncollocated output measurement, consisting of the angle of rotation at the hub augmented with a weighted value of the angle of rotation of the link´s extremity. A technique for determining the closest output to the tip resulting in a passive transfer function is given