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How Single Link Flexible Manipulator Controller controls the vibration of the link tip?

How Single Link Flexible Manipulator Controller controls the vibration of the link tip?

How Single Link Flexible Manipulator Controller controls the vibration of the link tip?

(OP)
I'm control engineering student.

As seen on the video link below, how the controller controls the tip vibration and the link movement at the same time? Please explain using the block diagram of the system, since i am quite confused.

I already know about simple feedback controllers. For instance if i have a simple dc motor position control. How it works is if the now position of the motor is less than the setpoint, the controller add a little bit power to the motor so the motor turns. Otherwise, if the now position is more than the setpoint, controller trying to reduce power or inverse the polarity of the power given to match by the setpoint.

But for the flexible manipulator i have no idea about how the control system works. Since the controller must regulate the motor speed and direction of rotation to somehow reduce the tip vibration. Thank you in advance

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