Exponential stability of uniform Euler–Bernoulli beams with non-collocated boundary controllers

We study the stability of a robot system composed of two Euler–Bernoulli beams with non-collocated controllers. By the detailed spectral analysis, we prove that the asymptotical spectra of the system are distributed in the complex left-half plane and there is a sequence of the generalized eigenfunctions that forms a Riesz basis in the energy space. Since there exist at most finitely many spectral points of the system in the right half-plane, to obtain the exponential stability, we show that one can choose suitable feedback gains such that all eigenvalues of the system are located in the left half-plane. Hence the Riesz basis property ensures that the system is exponentially stable. Finally we give some simulation for spectra of the system.