We consider a flexible structure modeled as a shear beam which is clamped to a rigid body at one end and is free at the other end. The whole structure is free to rotate on the horizontal plane. We first model the system by using Partial Differential Equations (PDE) and we propose boundary feedback laws to achieve set point regulation of the rotation angle as well as to suppress the elastic vibrations. The proposed control laws are based on PDE model, hence we do not resort to discretization of the system equations by available methods. We utilize a coordinate transformation based on an invertible integral transformation by using Volterra form and backstepping techniques. We also present some simulation results. © 2009 EUCA.