Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation

<div>Responses in motor angle and angular velocity for (a) the boundary control scheme with the high order observer and (b) the control scheme employing the constant disturbance observer.</div>

Shock and Vibration

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Figure 2

Figure 2: Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation 