A robust discontinuous feedback control scheme of the pulse width modulation (PWM) type is proposed for the regulation of angular positions of links in robotic manipulators. The discontinuous PWM controller design is carried out on the basis of the expected linearization approach for a suitably defined average PWM-controlled continuous model.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
