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Velocity and position are the most important signals used in industrial controllers such as proportional-integral-derivative controllers. While in some real-time applications like structural control, acceleration measurements are easily accessible via accelerometers. The velocity and position have to be estimated from the measured acceleration. In this paper, offset cancellation and high-pass filtering techniques are combined effectively to solve common problems in numerical integration of acceleration signals in real-time applications. The integration accuracy is improved compared with other numerical integrators. Experimental results on a linear servo actuator and a shake table illustrate the effectiveness of the proposed method.

Although most real building structure controllers are in the form of proportional-derivative/proportional-integral-derivative (PD/PID), there have been few published theory results of PD/PID on structural vibration control. In order to minimize the regulation error, a PD/PID control needs relatively large derivative and integral gains. These deteriorate the transient performances of the vibration control. In this paper, a natural combination of industrial PD/PID control with fuzzy compensation is proposed. The main contribution of this paper is that the stability of the fuzzy PD/PID control is proven with standard weight training algorithms. These conditions give explicit selection methods for the gains of the PD/PID control. Experimental studies on a two-story building prototype with the controllers are addressed. The experimental results validate our theoretical analysis.

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