Design of controllers for flexible structures using uncertain modeling techniques and finite-element based CAV

The authors present a design methodology for controllers of flexible structures based on uncertain modeling techniques. The particular problem which is addressed is the control of a single flexible link planar manipulator. An extremely simple control strategy is derived by treating the effects of compliance as an uncertain torque about which no a priori knowledge is assumed other than a bound. However, because the torque is modeled as an uncertainty, it is necessary to perform computer-aided verification (CAV) of the present design on a finite-element simulation program which is based on the standard Bernoulli-Euler model found in literature studies