AbstractThis paper deals with flexible manipulators and aims at developing a general LPV (Linear Parameter Varying) methodology for modeling and control. As an example, the case of a 2-links manipulator with one flexible link is considered. By the use of the assumed modes technique, the effects of link deflections are accounted for when developing the dynamic model from Euler-Lagrange equations. This nonlinear dynamic model is reformulated into a quasi-LPV model based on the function substitution approach. The LPV model serves as a basis for the development of parameter-dependent control laws involving the joint variables only and minimizing the end-effector deflection. The relevance of the proposed control approaches is demonstrated by simulations.