Direct model reference adaptive control (DMRAC) is the state of the art algorithm with very powerful properties including robustness with respect to unmodeled dynamics and ease of implementation even to very complex systems such as highly nonlinear MIMO plants. The motivation behind the research explained in this paper is to emphasize these properties. To do that, tip point position control problem for a two-link flexible manipulator is studied. DMRAC based feedforward compensator is designed for Euler-Bernoulli beams. Plant variations are considered.