Hybrid control of a rotational flexible beam using enhanced PD feedback with a nonlinear differentiator and PZT actuators

In this paper, a hybrid control algorithm is proposed to control the rotation of a flexible beam while suppressing the beam's vibration. The control law combines an enhanced PD feedback with a nonlinear differentiator to derive a high-quality velocity signal to control the gross motion of the beam, and a vibration control by PZT actuators bonded on the surface of the beam. There are three advantages of the proposed method: (i) the enhanced PD...