A Finite-Dimensional Controller for Robust Output Tracking of an Euler-Bernoulli Beam

In this paper, we consider robust output tracking problem of an undamped Euler-Bernoulli beam with boundary control and boundary observation. In particular, we study a cantilever beam which has control and observation at the free end. As our main result, we construct a finite-dimensional, internal model based controller for the output tracking of the beam system. In addition, we consider a case where the controller achieves the robust output tracking for the cantilever beam with distributed control and observation. Numerical simulations demonstrating the effectiveness of the controller are presented.