This paper presents the design of a standard control based on the H2 standard and an H-infinity control applied in a manipulator of two degrees of freedom. The manipulator was modeled with the Euler-Lagrange equations and the Rayleigh dissipation function. A model was used in the SimMechanics Toolbox by exporting geometry and physical properties from SolidWorks. The results obtained show that transient response in H infinity control is smoother than the standard control.