Development of Effective Vibration Control Experimental System for Undergraduate Lecture on Modern Control Engineering*

The authors have already designed and carried out novel experience based lecture on Vibration Engineering since 2015. In the lecture, the five-story building "Gensai-kan" (Disaster Mitigation Research Building) with a weight of 5,600 tons in Higashiyama Campus, Nagoya University is oscillated by the oil jack loading system and students feel the free vibration inside the building. They also observe the vibration isolation mechanism from the outside of building. In addition, the academic background of the experiment is lectured in the building immediately after the experiment. To follow such a largescale experience based lecture, the authors develop an effective vibration control experimental system for undergraduate lecture on Modern Control Engineering. This system consists of flexible mechanical structure taking Gensai-kan into account, active vibration isolation mechanism using a linear actuator, and the mechanical impedance controlled power assist cart. Then, the system enables the students to remember the largescale experience and understand the relationship between the passive vibration isolation in Gensai-kan and the active vibration isolation technique based on the modern control theory. This paper mainly discusses the configuration of experimental system, its state-space modeling, the passive control realization using the actuator, and the suboptimal LQ control based active control method for vibration isolation. In order to verify the effectiveness of the design, some simulation results are shown.