This work deals with the robust asymptotic output tracking control problem of the tip position of a space frame flexible structure, mounted on a rigid revolute servomechanism actuated and controlled with a dc motor. The structure is also affected by undesirable vibrations due to excitation of its first lateral vibration modes and possible variations of the tip mass. The overall flexible structure is modeled by using finite element methods and this is validated via experimental modal analysis techniques. The tip position of the structure is estimated from acceleration and strain gauge measurements. The asymptotic output tracking problem is formulated and solved by means of Passivity-Based and Sliding-Mode Control techniques, applied to the dc motor coupled to the rigid part of the structure, and those undesirable vibrations are simultaneously attenuated by an active vibration control using Positive Position Feedback control schemes implemented on a PZT stack actuator properly located into the mechanical structure. The investigation also addresses the trajectory tracking problem of fast motions, with harmonic excitations close to the first vibration modes of the structure. The overall dynamic performance is evaluated and validated by numerical and experimental results.