... Delay Systems T-S Fuzzy H∞ Tracking Control of Input Delayed Robotic Manipulators 213 2m1m2l1l2q1q Fig. 1. Two-link robotic manipulator. 2 121 1121 212 2 212 1 2 1 2 222 212 ... equality (14) and Lemma 1, and adding two sides of (12) by T2Tee-γ v v , it is obtained that 11 12 T2T T TT T2T22TT22 22 12 T22 22 12 tt 12 12 11t-τ t-τ1k2TT TTiji,j=1xSSV+e e-γ ... Time-Delay Systems 212 effective approach in tracking control of nonlinear systems (Ma and Sun, 2000; Tong et al., 2002; Lin et al., 2006), and in particular, for robotic systems (Tseng...