The　concurrent　design　of　one-link　flexible　manipulator　system　based　on　the　H-2/H-infinity　robust　controller　is　investigated　using　genetic　algorithms　(GA).　A　finite　dimensional　dynamic　model　of　the　flexible　manipulator　with　different　cross-sectional　area　is　derived　from　partial　differential　equations　through　the　finite　difference　method.　Overall　system　dynamic　model　considers　construction　parameters,　sensor　parameters　and　controller　parameters　simultaneously.　H-2/H-infinity.　robust　controller　is　developed　to　ensure　robustness　of　manipulator　control　system　for　varying　payloads　and　other　modeling　uncertainties.　A　design　procedure　based　on　GA　is　proposed　to　tune　the　system　parameters　including　controller　parameters　and　structure　parameters　to　achieve　global　optimal　performance　for　flexible　manipulator　system　comparatively.　Numerical　results　have　indicated　the　optimal　shape　of　manipulator　and　the　improved　performance　of　tip　vibration　suppression.