Due to the associated chattering effects, Pulse-Width-Modulation (PWM) control strategies have been of limited theoretical interest in the investigations about regulation of mechanical systems, such as robotic manipulators. This article proposes dynamical PWM control as a means of circumventing the inconveniences caused by the discontinuities associated to the PWM control strategies and still retain the classical robustness features associated to this practical discontinuous control technique. As examples, the results are applied to, both, rigid and flexible joint single link robotic manipulators.