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Passivity and PDS control of flexible mechanical systems on the basis of distributed parameter system

We consider the passivity and direct output feedback control law of flexible mechanical systems based on the distributed parameter model. We introduce the Lyapunov function related to the total energy of the distributed parameter system and derive a simple sensor output feedback control law. Using the invariance principle and the characteristic of the differential operator, we prove the asymptotic stability of the closed-loop distributed parameter system and the convergence property to the desired stationary state. Experiments were carried out to demonstrate the validity of the derived model and the effectiveness of the proposed control law.