Dynamic inversion of boundary control systems with applications to a flexible beam

In this paper we consider a general class of boundary control systems (BCS) capable of describing the dynamics of many infinite dimensional systems of practical interest including flexible structures. We formulate a procedure for the exact inversion of the BCS without having to discretize its distributed model. The resulting inverse model is used to compute the feedforward control input for tracking a desired output trajectory without requiring the system to be minimum phase. The key results of the paper are illustrated on a flexible beam using a numerical simulation study