Linear Control of a Nonlinear Equipment Mounting Link

Darren Williams*, Javad Tagihpour, Hamed Haddad Khodaparast, Shakir Jiffri

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

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The linear control of a nonlinear response is investigated in this paper, and a nonlinear model of the system is developed and validated. The design of the control system has been constrained based on a suggested application, wherein mass and expense are parameters to be kept to a minimum. Through these restrictions, the array of potential applications for the control system is widened. The structure is envisioned as a robot manipulator link, and the control system utilises piezoelectric elements as both sensors and actuators. A nonlinear response is induced in the structure, and the control system is employed to attenuate these vibrations which would be considered a nuisance in practical applications. The nonlinear model is developed based on Euler–Bernoulli beam theory, where unknown parameters are obtained through optimisation based on a comparison with experimentally obtained data. This updated nonlinear model is then compared with the experimental results as a method of empirical validation. This research offers both a solution to unwanted nonlinear vibrations in a system, where weight and cost are driving design factors, and a method to model the response of a flexible link under conditions which yield a nonlinear response.
Original languageEnglish
Pages (from-to)679-699
Number of pages21
Issue number3
Early online date31 Aug 2021
Publication statusE-pub ahead of print - 31 Aug 2021


  • active vibration control
  • geometric nonlinearity
  • nonlinear vibration test


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