Intro; Preface; Acknowledgements; Contents; About the Authors; 1 Introduction; 1.1 Control of Flexible Mechanical Systems; 1.2 Outline of the Book; References; 2 Mathematical Preliminaries; 2.1 The Hamilton Principle; 2.2 Functional and Variation; 2.2.1 Functional Variation Rules; 2.2.2 The Expansion of \int_{{t_{1} }}^{{t_{2} }} {\delta \left( {\frac{1}{2}\dot{\theta }^{2} } \right)dt}; 2.2.3 Definition of Variation; 2.3 Discrete Simulation Method; 2.3.1 Discretization of Joint Angle \theta \left( t \right); 2.3.2 Several Discretization Methods; 2.3.3 Discretization of Boundary Conditions

5.3 Boundary Controller Design5.4 Simulation Example; Appendix; References; 6 Boundary Control for Flexible Manipulator with LaSalle Analysis; 6.1 System Description; 6.2 Dissipative Analysis of the Closed System; 6.3 Unique Analysis of Solutions; 6.4 Convergence Analysis; 6.5 Simulation Example; References; 7 Boundary Control for Flexible Manipulator with State Constraints; 7.1 Introduction; 7.2 System Statement; 7.3 Controller Design and Analysis; 7.4 Convergence Analysis; 7.5 Simulation Example; References; 8 Boundary Control of Flexible Manipulator with Input Constraints; 8.1 Introduction

8.2 System Description8.3 Controller Design; 8.4 Dissipative Analysis of the Closed System; 8.5 Unique Analysis of Solutions; 8.6 Convergence Analysis; 8.7 Simulation Example; References; 9 Robust Observer Design for Flexible Manipulator Based on PDE Model; 9.1 Introduction; 9.2 System Description; 9.3 Preliminaries; 9.4 Observer Design and Analysis; 9.5 Simulation Example; References; 10 Infinite Dimensional Disturbance Observer for Flexible Manipulator; 10.1 Introduction; 10.2 Observer Design; 10.3 Simulation Example; References

11 Boundary Control for Flexible Manipulator with Guaranteed Transient Performance11.1 System Description; 11.2 Preliminaries; 11.3 Performance Function; 11.4 Controller Design and Analysis; 11.5 Convergence Analysis; 11.6 Simulation Example; References; 12 Conclusions