In this talk, I will consider output tracking problem for an Euler-Bernoulli beam system under system structure uncertainties and external disturbances in all channels, where most of the disturbances are non-collocated with control.

We design a robust tracking error feedback control to achieve output tracking under the guidance of the internal model principle. We first design a state feedback control by simply solving regulator equation. For some specially chosen frozen uncertainties, an observer in terms of tracking error only is designed. A dynamic tracking error feedback control is then designed based on the observer, which is shown to be line with the internal model principle and is further shown to be robust to uncertainties. The stability and convergence are then concluded and the numerical simulations validate the results.