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 of

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... mulation results for each technique is presented in time domain and frequency domain respectively. Performances of the controller are examined in terms of vibration suppression and disturbances cancellation. Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed. Second Asia International Conference on Modelling & Simulation 978-0-7695-3136-6/08 $25.00