Boundary control design and stability analysis of an Euler-Bernoulli Beam system with input backlash

This paper investigates the vibration control of an Euler-Bernoulli Beam with nonlinear backlash input. Based on the dynamical model of the flexible beam, the boundary control law and the disturbance observer are designed to suppress the vibration of the system and reduce the effect of the backlash. The stability of the closed-loop system is proved and the uniform boundness of the states of the system is achieved. The proposed boundary control with appropriate parameters is proved to be effective by the performance of numerical simulations of the flexible beam system.