Abstract: In this work a comparison is drawn between two techniques for motion control of a flexible four-bar linkage. Both approaches employ an accurate fully coupled and nonlinear finite element model of the mechanism based on the ERLS theory. Each technique is suitable for a distinct motion of the mechanism. The first approach, suitable for large global displacements, employs a PID-like regulator to control the ERLS motion and proportional regulators to damp vibrations. The second approach, suitable for small global displacements, makes use of an optimal linear quadratic regulator and requires a local linearization of the system model. Simulation results demonstrate the effectiveness of the two approaches.