This chapter presents closed-loop collocated and non-collocated control approaches for flexible manipulator systems. A closed-loop control strategy using hub angle and hub velocity feedback for rigid-body motion control and end-point acceleration feedback for flexural motion control is considered. This is then extended to an adaptive collocated non-collocated control mechanism using on-line modelling and controller design. PID-type as well as inverse-model control techniques are considered for flexural motion control. The non-minimum phase behaviour of the plant in the latter case is addressed through conventional techniques. This is further addressed through development of an adaptive neuro-inverse model strategy. Case studies demonstrating and assessing the performances of the control approaches are presented through simulated and experimental exercises.