In this paper, an experimental study on the robust input shaping for control of the residual vibration of flexible structures has been investigated. Two approaches has been used for the robustness of input shaping: the first method is to increase the number of impulses, and the other includes an EI shaper using vector diagram. The input case designed by the application of the above methods has been applied to a control problem involving residual vibration of a rotating hub with two flexible appendages. It has been found by a series of experiments that the input shaper designed in this paper works well for the residual vibration control of the flexible structure.