Robotic manipulators with flexible links are continuous systems characterised by infinite number of degrees of freedom and governed by nonlinear, coupled, ordinary, and partial differential equations. It is known that pure discrete control strategies result in an inherent limit in the achievable control performance. This limitation may be attributed to the dynamic coupling between the discrete actuators at the joints and the flexible structure. A hybrid control strategy implemented using the discrete joint actuators and distributed piezoelectric actuators is proposed for overcoming this limitation. The discrete joint actuator uses a DC servo motor which provides actuations to control large excursions of the manipulator. The distributed PVDF film actuator serves as an active damper which suppresses the structural vibrations. The hybrid control strategy was implemented on a one-link flexible manipulator. In this seminar, the dynamic modelling, controller design and real-time control system for the one-link flexible manipulator system will be discussed. Simulation and experimental results for the above system will also be presented.