研究单臂柔性机械手的Ｈ∞控制和溢出抑制问题．用Ｌａｇｒａｎｇｅ假设模态法对柔性臂进行建模，截断高阶模态构造柔性臂的降阶模型．基于这个降阶模型，应用Ｈ∞控制理论设计一鲁棒降阶控制器．这样设计的闭环系统不但具有良好的跟踪性能，而且能够抑制溢出现象．最后实例数值仿真结果表明了设计的有效性 Research on H∞ Control and Spillover Suppression of Single Arm Flexible Manipulators. The flexible arm is modeled by Lagrange’s hypothetical modal and the reduced order model of the flexible arm of the high-order modal structure is truncated. Based on this reduced order model, a robust reduced order controller is designed using H∞ control theory. This closed-loop system designed not only has good tracking performance, but also to suppress overflow. The final numerical simulation results show the effectiveness of the design