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In this paper, a robust control strategy for a robotic manipulator, modelled as a cantilever rotating Euler-Bernoulli beam, is developed. Imprecision in the payload mass, unknown properties of the manipulator link, and torque disturbance are included as the sources of uncertainty. The objective is to achieve a desired angular rotation while the vibration of the manipulator tip is suppressed and the control system remains in a stable region. The control input of the system is an external drivingdoi:10.20855/ijav.2013.18.3332 fatcat:jvngvaut3nez5miumgolm5jwie