Vibration and position tracking control of piezoceramic-based smart structures via QFT

This paper presents robust vibration and position tracking control of a fle xible smart structure featuring a piezoceramic actuator. A cantilever beam structure with a surface-bonded piezoceramic actuator is proposed, and its governing equation of motion and associated boundary conditions are derived from Hamilton 's principle. The transfer function from control input volta ge to output displacement is then established in Laplace domain considering the hysteresis behavior as a structured plant uncertainty. A robust (QFT ( quantitative feedback theory) compensator is designed on the basis of a sta bility criterion which prescribes a bound on the peak value of an M-contour in the Nichols charr (NC). In the formulation of the compensator, disturba nce rejection specification and tracking performance bounds are specified t o guarantee the robustness of the system to the plant uncertainty and exter nal disturbance. A prefilter is also designed for the improvement of step a nd sinusoidal tracking control performances. Forced-vibration and tracking control performances are investigated through computer simulation and exper imental implementation in order to demonstrate the efficiency and robustnes s of the proposed control methodology.