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

<div>Deflections at the tip and at the middle 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

fig3

Figure 3

Figure 3: Boundary Control of a Flexible Manipulator Based on a High Order Disturbance Observer with Input Saturation 