Kansas City, MO (SportsNetwork.com) - The Kansas City Royals signed pitcher Ryan Madson to a minor league contract on Sunday.

Madson, 34, has not played in the majors since 2011 due to elbow injuries. The right-hander failed to make the Angels' roster in 2013 after recovering from Tommy John surgery and sat out last season.

The California native compiled a 47-30 record with a 3.59 earned run average over 491 career games with Philadelphia. He was a member of the 2008 World Series champion Phillies.