We discuss the control of a two degrees-of-freedom flexible arm with rotational motor and linear actuator considering bending and torsional deformations. We derive dynamic equations of the distributed parameter system by means of the Hamilton’s principle. We introduce a Lyapunov function related to the total energy of the distributed parameter system and derive simple sensor output feedback control laws (PDSS control). We examine the asymptotic stability of the closed-loop system. Some experiments are performed to show the effectiveness of the proposed controller.
