Integral control of collocated smart structures

This paper introduces a simple and robust technique for vibration control in smart structures with collocated sensors and actuators. The technique is called Integral Resonant Control (IRC). We show that by adding a direct feed-through to a collocated system, the transfer function can be modified from containing resonant poles followed by interlaced zeros, to zeros followed by interlaced poles. This structure permits the direct application of integral feedback and results in good stability and damping performance. To alleviate the problems due to unnecessarily high controller gain below the first mode, a slightly complicated second-order controller is also discussed. A piezoelectric laminate cantilever beam used to test the proposed control scheme exhibits up to 24 dB modal damping over the first eight modes.

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