Under the integration optimization object, the beam shape and controller parameters were obtained by using an adaptive iterative algorithm with the accommodation of various geometrical constraints to consider the coupling between the controller and the mechanical structure of a flexible manipulator concurrently. The global optimization method was designed to combine the physical construction design with control algorithm by using the structure optimization as the outer-loop and the linear quadratic regulator(LQR) control as inner-loop. The simulation work of a single link flexible beam was done. The simulation results showed that the integration method to consider the control law and the structure optimization synthetically is effective and feasible.