This paper deals with an inverse optimal H1 disturbance attenuation for the planar manipulators with the eye-in-hand system. The input-to-state stability control Lyapunov function (ISS-CLF) is constructed the full Lagrangian dynamics based on a potential function of the image feature parameter space. The ISS-CLF gives us an inverse optimalH1 control law. A proposed controller solves the inverse optimal H1 control problem by minimizing a cost functional, and the closedloop system with the proposed controller is input-tostate stable. Further, we discuss that the inverse optimal H1 controller has robustness against input uncertainties.