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以柔性臂末端点切向加速度作反馈量，结合柔性臂机电耦合特性，得到了以柔性臂末端点转角θｔ为输出，以柔性臂给定转角θｄ为输入的传递函数。将时域的二次型目标函数转化为频域的二次型目标函数，求解加速度增益。实验结果证明了加速度反馈抑制柔性臂振动的有效性和实用性。
Taking the tangential acceleration at the tip of the flexible arm as the feedback and combined with the electromechanical coupling of the flexible arm, the transfer function with the tip angle θt of the flexible arm as the output and the input angle θd of the flexible arm as the input is obtained. The quadratic objective function in the time domain is transformed into a quadratic objective function in the frequency domain to solve the acceleration gain. The experimental results show that the acceleration feedback suppresses the vibration of the flexible arm effectively and practically.