An integrated single-step approach to the synthesis of a mechanical device and a controller is presented. The mechanical device consists of a noncircular gear pair that acts as a varying gear ratio transmission between an electro-mechanical actuator and a flexible structure. Such a system has been introduced as an application in minimizing flexura] vibrations in the slewing maneuver of flexible space structures such as large solar panels and satellites in space. Only a simple regulator-type feedback controller is called for to control this complex electro-mechanical-and-structural system and the purpose is to design this complex system in an integrated procedure to achieve low flexural vibrations of the structure. Simulations of the slewing control tasks for two different flexible space structures are presented: a single planar flexible beam; and a planar flexible articulated double-beam.