Abstract
In this article the sliding mode control of an impacted elastic link with parametrically excited base in rotational motion is considered. A sliding mode control strategy based on inverse model is designed and employed to suppress the vibrations of the elastic beam after the impact with a rigid surface or a rigid body. The control concept involves the usage of adaptive plant inverse as controller in feedforward configurations. The inverse model of the system becomes the controller for the plant. Such systems can be used as preliminary models for studying the dynamics and control of robot and teleoperator systems utilizing mechanical manipulators. The controller is applied successfully to reduce vibrations of the parametrically excited flexible system after the impact. Simulations for damped and undamped system are provided.