Robust control using disturbance force compensator and time waveform replication for an electrodynamic shaker

This paper presents a disturbance-force compensator for an electrodynamic shaker. The characteristic of a shaking system is considered to be nonlinear and variable because of the influence of the test piece. In order to compensate for this problem, the influence of the disturbance force needs to be suppressed. The controller is designed using mu-synthesis by considering the uncertainty of the shaker. In order to investigate the control performance for the influence of friction and sloshing, the time waveform replication testing is executed. Finally, because the disturbance-force compensator suppresses the nonlinear characteristic, the good performance is confirmed with the help of experiments conducted using the actual equipment.