A controller for an impacted single flexible link

A single-mode model of a continuous beam with a payload that has been subjected to an impulsive external impact disturbance is used to illustrate the application of a finite time controller to control the rigid body and elastic vibration behavior of an elastic slewing link. The controller is initially designed in the time and Laplace domains and is then converted to the discrete case in anticipation of implementation. Once in the discrete form, the controller is shown to be stable and its performance is established via simulation results. The controller is found to allow fast accurate repositioning of the end effector after impact and is also found to be robust to variations in impact magnitude and the prescribed set point.