Boundary output tracking for a flexible beam with tip payload and boundary nonlinear disturbance

We study boundary output tracking for a flexible beam with tip payload and boundary nonlinear disturbance. By constructing an infinite-dimensional extended state observer (ESO), the total disturbance is estimated on line. A servomechanism corresponding to the reference signal and servomechanism-based output feedback control law are designed. Under such control law, we prove that the performance boundary output tracks exponentially the reference signal. By virtue of the Riesz basis approach, the Riesz basis generation and exponential stability of an coupled system are verified, and thereby the boundedness of closed-loop system is obtained. Some numerical simulations are presented to illustrate the effectiveness.