The use of direct contact type sensors and actuators for structural vibration control offers the advantage of adding less mass to the structure and permits a wide fre quency range of control, facilitating a means of tunability for structural systems that age or change. The design of a controller using output feedback for such systems is considered in this paper. A recently developed loop transfer recovery procedure for designing fixed- order dynamic compensators that improve both performance and robustness has been applied in the controller design for active vibration control of a cantilever beam with bonded piezoceramic sensors and actuators. For a given order of the compensator, the trade-off between performance and robustness is investigated.
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