Boundary Output Constrained Control for a Flexible Beam System with Prescribed Performance

Zhijia Zhao, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


This article presents a novel controller design to ensure the prescribed performance of a vibrating flexible beam system that possesses boundary output constraints and external disturbances. First, boundary output constraints are visualized as the prescribed performance characteristics, and a smooth performance function along with a proper error transformation is introduced. Second, a boundary constrained controller with a disturbance observer is developed to achieve the present performance, cope with the external disturbance, and stabilize the vibration in the beam system. Third, the principle of invariance is used for rigorous analysis and to ensure the system's asymptotic stability. Finally, the result of simulation research shows the effectiveness of the suggested approach.

Original languageEnglish
Article number8876682
Pages (from-to)4650-4658
Number of pages9
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number8
Publication statusPublished - 2021 Aug


  • Boundary control
  • invariance principle
  • output constraint
  • prescribed performance
  • vibration control

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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