Mu-Synthesis robust control of 3D bar structure vibration using piezo-stack actuators

• Identification and modelling of the 3D truss dynamics.
• System uncertainty modelling.
• μ-Synthesis controller synthesizing for the 3D bar structure vibration control using a piezo-stack actuators.
• Stability margin and robust performances for μ-Synthesis closed-loop system.
• Comparisons of the experimental and simulation results in the frequency and time domains.

This paper presents an idea for the Mu-Synthesis robust control of 3D bar structure vibration with using a piezo-stack actuators. A model of the 3D bar structure with uncertain parameters is presented as multi-input multi-output (MIMO) dynamics. Nominal stability and nominal performances of the open-loop 3D bar structure dynamic model is developed. The uncertain model-based robust controller is derived due to voltage control signal saturation and selected parameter perturbations. The robust control performances and robustness of the system due to uncertainties influence is evaluated by using singular values and a small gain theorem. Finally, simulation investigations and experimental results shown that system response of the 3D bar structure dynamic model with taken into account perturbed parameters met desired robust stability and system limits. The proposed robust controller ensures a good dynamics of the closed-loop system, robustness, and vibration attenuation.