GALERKIN APPROXIMATION IN MODELING OF CONTROLLED DISTRIBUTED-PARAMETER FLEXIBLE SYSTEMS

Numerical study of control problems for linear distributed-parameter flexible mechanical systems requires finite-dimensional modeling of the system. We study the conditions for H(infinity) convergence of the transfer functions of finite-dimensional Galerkin approximations. This convergence ensures that control problems can be solved by using a Galerkin model. A stabilization problem for the angular position of a Bernoulli-Euler beam illustrates the theoretical consideration. The beam with an inertial drive represents a flexible manipulator link.