Amir Roushdy Abdelhameed Ali Ahmed <br/><br/>
Experimental model-reference composite control of lightweight flexible manipulators /  
Amir Roushdy Abdelhameed Ali Ahmed ; Supervised Ayman Ali Elbadawy 
 - Cairo :   Amir Roushdy Abdelhameed Ali Ahmed ,   2010 
 - 93Leaves :   charts , facsimiles ;   30cm 
<br/><br/>Thesis (M.Sc.) - German University - Faculty of Postgraduate Studies and Scientific Research - Department of Mechatronics Engineering 
<br/><br/> The control of lightweight flexible manipulators is the focus of this work . The flexible manipulator dynamics is derived on the basis of a lagrangian-assumed modes method . The full-order flexible dynamic system does not allow the determination of a nonlinear feedback control as for rigid manipulators since there are not as many control inputs as output variables