Stability analysis of nonlinear dynamic system with linear observer for a multilink flexible manipulator

One of the main contributions of this work is in the derivation of dynamic system stability with a suitable linear observer for the MLFM, based on Lyapunov theory, which: (1) explains physical mechanism for flexible-link movements and dynamics in a Lagrangian approach and (2) sufficient and necessary conditions of the dynamic system stability are derived through seeking the optimal feasible solutions of several algebraic Riccati matrix inequalities.