Modeling and vibration control of a flexible structure using linearized piezoeeramic actuators

In this paper, a dynamical model of the cantilever beam using Lagrange\´s equation and two coordinate systems are presented. Based on the Lyapunov\´s direct method, an active vibration controller with hysteresis compensation is designed. The controller is designed so that it guarantees the global stability of the overall system. The hysteresis compensator is based on the classical Preisach model and is used in order to lead to "linearized" piezo actuators. The controller developed is assessed experimentally.