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This paper presents analysis on the performance and stability of an integral-derivative feedback system for active tip pointing control of a very flexible and slender cantilever beam. Since a piezoceramic PZT actuator at the fixed-end and a non-contacting displacement sensor at free-end of the beam are used for the control, the non-collocation of the sensor and the actuator makes that the plant is a non-minimum phase system. So this tip pointing control for a lightly damped beam requires a careful consideration on robust stability. Although the integral-derivative controller is simple to implement and its performance is modest, it can provide very robust stability. This is really important in some critical control systems. After computer simulation, it is observed that the integral-derivative controller can reduce the settling time to 50 % with robust stability and control gains. The stability and performance of the control systems in terms of the time domain and the frequency domain are discussed in detail. Thus the integral-derivative controller could be very effective to a tip pointing control of a flexible cantilever beam.