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This paper addresses the issues related to the modeling, control and dynamic stability of long-reach flexible robotic manipulators. A finite element based technique is suggested for developing the system equations of motion. Decentralization of the structure in terms if smaller components at the link level is considered and control laws at both local and global levels are discussed. Lyapunov methods are presented for deriving sufficient conditions for global stability based on the stability properties of the individual links and their dynamic interconnections.