Vibration control of one-link flexible arm

In this paper, by applying a method of assumed modes, a model of a one-link flexible arm rotating in vertical plane is derived and a method is proposed to control the flexible arm by use of a control law made on an approximate model consisting of finite number of modes. It is proved that for the controller proposed the control spillover and observation spillover due to the neglected modes never lead the closed loop system to instability. At the end of the paper, experimental results of a manipulator show that the proposed method guarantees effective vibration control.