In this paper genetic algorithm (GA) optimization of controller for a flexible manipulator is proposed. The dynamic model of the system is derived using the Lagrange equation and discretised using the finite difference (FD) method. GA optimization is used to tune parameters of proportional-integral-derivative (PID) controllers for the system. PID controllers are employed in the feedforward and feedback paths for control of rigid-body and flexible motion dynamics of the system. Simulation results of the response of the manipulator system with the developed controllers are presented and discussed.