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A novel flatness-based estimated state feedback control design for a rotating flexible beam is introduced. The horizontally rotating beam is modelled as a boundary controlled Euler-Bernoulli partial differential equation. A so-called flat output is introduced in order to parameterise the system's variables in power series. These series lead to open- and closed-loop controls which can solve finite-time motion planning problems. The performance of the proposed control is experimentally compared with existing control methods for certain rest-to-rest motion planning problems.