Multibody systems are mechanisms of interconnected bodies with application in many areas of engineering. There is a need to optimize such systems for, among others, the minimization of the torque demand of the system motion, and also for maximization of the velocity of the systems. The integration of lightweight flexible bodies in multibody systems makes sense as the lower weight would imply an overall lighter systems and faster system; but this also comes with vibrations that in turn affect the system dynamics. It is necessary to have a control system for the motion of the system such that the torque and velocity targets are met and keeping vibrations low.