Reduced-order robust multivariable control of a double-beam cantilever structure

Vibration control of a two-dimensional smart structure is presented. The least squares identification technique and a novel pole identification method are used to obtain accurate plant models. Comparable accuracy is achieved with a significantly lower model order using the latter method. A multivariable multi-input multi-output (MIMO) generalized minimum variance control scheme is used to address robustness issues of plant mismodeling, unmodeled modes/dynamics and control signal saturation. The controllers are tested for robustness to spillover problems. Results are further supported with the use of sensitivity response functions.