A variable structure model following controller (VSMFC) isdesigned for the tip position control of a single flexible link.The design is done for the system model in which only the firsttwo flexible modes are included. Due to the simplicity in choosingsecond order models for the subsystems representing thedynamics of the various flexible modes, the design can be easilyextended to include any desired number of flexible modes. Thetip position response is made to assume a second order stepresponse by suppressing the flexible modes very quickly. Hencethe tip position response can be easily controlled by a suitablechoice of the damping factor and natural frequency of the secondorder model which the rigid body mode of the link is madeto follow. The controller is robust to parameter variations anddisturbances. © 1997 ASME.