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柔性臂控制是一个活跃的研究课题，已经有不少结果．最多用的方法是通过模态分析以控制柔性臂低价振型（一般为首一或二个振型）．本文提出一种“主极点”（ＤｏｍｉｎａｎｔＰｏｌｅｓ）控制器，它可以控制任何数目的低价振型而不失稳定性，该控制器可以方便地转变为自适应控制器以应付数学模型中模态频率与阻尼系数与实际柔性臂之间的误差．本文用李雅普诺夫理论证明了本控制系统的全局稳定性（Ｇｌｏｂａｌｓｔａｂｉｌｉｔｙ）．
Flexible arm control is an active research topic and there are already many results. The most used method is to control the flexible arm low mode (usually the first or second mode) by modal analysis. This paper presents a “dominant” (DominantPoles) controller, which can control any number of low-cost vibration without losing stability, the controller can be easily converted to adaptive controller to cope with the mathematical model in the modal frequency With the error between the damping coefficient and the actual flexible arm. In this paper, Lyapunov theory is used to prove the global stability of this control system.