“…2. Flexible links featuring surface-bonded piezoelectric actuator and sensor can be modeled as discontinuous cross-section EulerBernoulli beams, with deflection t) (x, d kyi , satisfying the partial differential equation system (Tsukazan, 2005;Copetti et al, 2007) is the flexural rigidity property of the link i (Meirovitch, 1967), and the index k selects the position along the beam length, where 1, 2, and 3 mean respectively before, within, and after the piezoelectric actuator.…”