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

Table 1

Physical parameters of the manipulator.

Parameter	Physical significance	Value
(N⋅m^2)	Flexural rigidity of the beam
	Mass of per unit length
(kg⋅m^2)	Inertia of the motor
	Length of the flexible beam
	Mass at the tip