Description:The effect of mode switching on system performance is studied as well. The basic
mechanical system used for this analysis is a continuous rotating beam that undergoes
structural vibrations due to mode switching in the driving hydraulic actuator. A fully
coupled actuator-beam model is investigated. A non-dimensional analysis is pursued to
generalize the study results. The optimal switching analysis and the vibrational study lead
to the idea of Continuously Variable Modes (CVMs).