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Experiments of active vibration control for flexible beam are studied, with a Stewart platform manipulator (SPM) employed as an active equipment at the bottom of the beam. The dynamic modal of the rigid-flexible coupling system composed of the upper platform of the SPM and the flexible beam is built, and an auto disturbances rejection controller (ADRC) is designed. Then based on the dSPACE real-time simulation system, the control test system for the beam is built, on which the auto disturbances rejection control experiments are carried out. Experimental results show the rate of amplitude attenuation using ADRC is almost 10 times faster than the free attenuation. For comparison purpose, a classic LQG controller is applied in another experiment on the same test system. The results of the two experiments show that ADRC has a better performance than LQG controller for the nonlinear system. At the same time, the results verify the effectiveness of the control conducted by SPM at the bottom of the beam.