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This paper presents the use of angular position control approaches for a flexible robot manipulator with disturbances effect in the dynamic system. Delayed Feedback Signal (DFS) and Proportional-Derivative (PD) controller are the techniques proposed in this investigation to actively control the vibrations of flexible structure. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. A complete analysis ofdoi:10.1109/ams.2008.58 dblp:conf/asiams/AhmadMIN08 fatcat:ebzjwh5tpna6fh5xih23gglcbu