Flatness-based closed-loop control of a rotating Euler-Bernoulli beam: experimental results

A closed-loop flatness-based tracking control of a rotating flexible beam is presented and experimentally validated. The beam system is modeled as a boundary-input-controlled Euler-Bernoulli partial differential equation. Flatness provides an infinite series parameterization of system variables in terms of a flat output and its time derivatives. These parameterizations are used to derive both an open- and closed-loop control. The proposed control is simulated and experimentally validated for rest-to-rest motions