The problem of designing jerk limited-time optimal control proe les for rest-to-rest maneuvers of e exible structures with multiple actuators is addressed. The problem formulation includes constraints to cancel the poles corresponding to the rigid-body mode and e exible modes of the system and to satisfy the boundary conditions of the rest-to-rest maneuver. Further constraints can be added to increase robustness to parametric uncertainties of the plant. The technique proposed is applied to a three-mass/two-spring system and the evolution of the shape of the control proe le as a function of jerk is illustrated. I. Introduction T HERE has been extensive research in the e eld of vibration control of slewing e exible structures. The knowledge obtained throughoutthisresearchhasbeenappliedtoawidevarietyofcontrol problems, including, but not limited to, maneuvering of large space structures, 1 e exiblearmrobots, 2 computerdiskdrives, 3 andcranes. 4 In most of these applications, the objective of the controller is to minimize the maneuver time with quiescent e nal states. Robustness tomodelingerrors,limitsonfuelconsumed,maximumdeformation permitted,andso on,havebeenincludedintheproblemformulation as additional constraints. Research in the e eld of input shaping was motivated by Smith’ s development of the Posicast Control. 5 The sensitivity of these controllers to uncertainties in damping and frequencies of the modes was addressed by Singer and Seering, 6 and the resulting pree lter was referred to as an input shaper. Singh and Vadali 7 illustrated that a time-delay pree lter that cancels the underdamped poles of the system results in the same control proe le as the input shaped controller. They also illustrated that the use of a series of time-delay e lters results in increased robustness to modeling errors. Various other approaches, which include forcing the derivative of the sensitivity curve at the nominal values of the model parameters to zero and designing input shapers that maximize the uncertain region where the residual vibration is less than a prespecie ed quantity, 8 have been investigated in the interest of desensitizing the pree lter with respect to modeling errors. Techniques to desensitize the timeoptimal control proe le have been developed by Liu and Wie 9 and Singh and Vadali. 10 A very recent approach to the design of desensitized time-delay e lters is a minimax formulation proposed by Singh. 11 All of the aforementioned approaches assume that the actuator can track step inputs, which is equivalent to requiring ine nite jerk control proe les. Jerk is indicative of the time rate of change of the inertia forces and is a measure of the impact levels that can excite unmodeled dynamics, which is of concern in the control of e exible structures. Bhat and Miu 3 study the problem of designing control proe les, minimizing a cost function that is the time integral