Abstract
In this paper, we present a new pre-filter with frequency estimator for the positioning of flexible arm. The frequency estimator consists of adaptive notch filter that be able to estimate a single frequency of sine wave adaptationally. Hie pre-filter with frequency estimator enables to estimate suppress elasticity vibrations which are caused by variable elastic modes of the plant owing to changes of the tip load when the arm conveys an object. Some results of numerical simulation are given in order to verify the usefulness of proposed filter.
