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

Zhijia Zhao, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

42 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

Bibliographical note

Funding Information:
Manuscript received November 30, 2018; revised March 25, 2019; accepted September 22, 2019. Date of publication October 18, 2019; date of current version July 19, 2021. This work was supported in part by the National Natural Science Foundation of China under Grant 61803109 and Grant 11832009, in part by the Innovative School Project of Education Department of Guangdong under Grant 2017KQNCX153, Grant 2018KQNCX192, and Grant 2017KZDXM060, in part by the Science and Technology Planning Project of Guangzhou City under Grant 201904010494 and Grant 201904010475, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. This article was recommended by Associate Editor M. P. Fanti. (Corresponding authors: Zhijia Zhao; Choon Ki Ahn.) Z. Zhao is with the School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510006, China (e-mail:

Publisher Copyright:
© 2013 IEEE.


  • 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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