Control design of active vibration isolation using mu-synthesis

Abstract

Numerical and experimental investigations on active vibration isolation system are presented in this paper. Two configurations are implemented for a statically balanced three-mount system. To reduce the influence of payload dynamics and coupling among the control actuators, intermediate masses are added to the system. Linear quadratic Gaussian control and p-synthesis are employed in the controller synthesis. The controllers are implemented on the platform of a floating-point digital signal processor. The results obtained from simulations and experiments indicated that the optimal controllers achieved the desired performance under the constraint of robust stability. (C) 2002 Elsevier Science Ltd. All rights reserved.