Abstract: A new method to improve the performance of flexible sy stems by combining CSVS method with feedback controller is proposed. Its application needs onl y frequencies and damping ratios of closed loop and flexible modes and can be used to eliminate arbit rary vibration modes simultaneously , which may include controller induced, flexible vibration and other kinds of vibration. The stronger robustness of CSVS method to uncerta inty in frequency makes it more practicable in engineering. For a kind of flexib le single link, various large and damping ratio angle slewing strategies are des igned by applying CSVS method to feedback control loop. Numerical simulation and hardware experiments validate the effectiveness of this method.includecontrollerinduced ,flexiblev