  The control system in surgical robots must ensure patient safety and real
time control. As such, all the uncertainties which could appear should be
considered into an extended model of the plant. After such an uncertain plant
is formed, an adequate controller which ensures a minimum set of performances
for each situation should be computed. As such, the continuous-time robust
control paradigm is suitable for such scenarios. However, the problem is
generally solved only for linear and time invariant plants. The main focus of
the current paper is to include m-link serial surgical robots into Robust
Control Framework by considering all nonlinearities as uncertainties. Moreover,
the paper studies an incipient problem of numerical implementation of such
control structures.
