Predictive controller design for flexible link manipulator

The manipulating system of modern high-speed industrial robot may often contain the links with lowered mechanical rigidity. As the result, such a manipulating system possesses the increased level of vibrations and link's deformations under it's own weight and load. This leads to additional trajectory control and positioning error of the manipulator arm. So the control of flexible links manipulator is a complex problem. The control algorithm for the flexible link manipulator is offered for further explores. The algorithm is build with the use of model predictive control technique.