Structure and controller design for vibration control of flexible structures via robust pole assignment

This paper presents a new approach to the integrated design of structure and controller for vibration control of flexible structures. The proposed method assigns closed-loop poles at specified locations in the complex plane and minimizes the condition number of the closed-loop modal matrix via structure/controller design, i.e., quasi-simultaneous design of structural parameters, actuator locations, and feedback gains. Minimizing the condition number provides the system robust stability in the sense that it suppresses deviations of the closed-loop eigenvalues caused by system uncertainties. The result of the structure/controller design for an experimental model of active structure shows that the proposed method is highly useful for improving the system robustness and control performance