Khanmirza E., Yousefi-Koma A., Akbari S., Tarverdi Zadeh B.

In this paper, a robust control system is developed for vibration control of a flexible beam with piezoelectric actuators (i.e. smart beam). The active control systems of the smart beam suppress the vibration significantly in the presence of disturbances, measurement noises and model uncertainties. Thus it is the best candidate for sensitive industrial, medical and etc. robot arms and bases a new concept in the use of smart structures in robotics. The Frequency Response Function (FRF) of the smart beam was obtained from a Finite Element (FE) model. The corresponding transfer function was derived from the Mu synthesis and several control systems such as PID, LQR, LQG and H¡Û were then designed to suppress the vibration. To suppress higher mode, in contrast with Lead Lag compensator, LQG and H„V optimal controller have sufficient performance. A comparative study showed significant advantages of the robust controller over conventional controllers in noise and disturbance rejection.