Abstract: The method proposed in this work is aimed at the residual vibration suppression for uncertain flexible systems. The approach, which is focused on enhancing robustness to unmeasured parametric deviations, combines a motion design approach with a structural modification approach. Both approaches are tested with and without the explicit inclusion of robustness constraints. The application to a numerical test case is provided to highlight the advantages brought by the concurrent approach. The results show that even a minimal alteration to the motion profile and to the physical properties of the plant to be moved can significantly reduce the sensitivity to large mismatches between the assumed and the actual plant.