The Design of H-infinity Controllers for an Experimental Non-collocated Flexible Structure Problem

Abstract

This paper describes results in applying robust control techniques to achieve vibration suppression of an active precision truss structure. The active structure incorporates piezoelectric members which serve as both structural and actuation elements. The problem considered is multiple-input, multiple-output with non-collocated actuators and sensors. Several characterizations of uncertainty are studied and the resulting controllers are compared experimentally. One characterization uses a novel approach involving eigenvalue perturbation descriptions.