In this paper, we propose a new design method of frequency dependent optimal servo system for the positioning of flexible structures. In order to reduce the sensor costs and to suppress spillover phenomena which are caused by ignored elastic modes of the plant, we introduce a pre-filter into an input, which possesses low pass characteristics. The proposed method enables to design specified characteristics of the pre-filter and to assign poles to desirable locations of a closed loop system exactly while keeping optimality. Some results of experiments are given in order to verify the usefulness of our method.
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