Modeling, identification, and control of flexible structures

The initial results of efforts in the modeling identification, and control of flexible structures, and the four experimental setups in various stages of construction are described. They are a single-link flexible beam, a two-dimensional flexible plate, a two-link flexible manipulator, and a five-axis flexibly jointed robot. For the most mature structure, the single-link flexible beam, the authors develop a general nonlinear dynamical model and its discretized and control results