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In this paper, a novel adaptive vibration control algorithm is proposed by introducing a parameter K. The asymptotic stable condition of this algorithm is mathematically derived. In the case of stationary disturbance, the algorithm is an unbalance vibration control for K=0, while for K=1, it becomes an adaptive vibration control with consumed current control. With a non-zero K, the present control algorithm is suitable for non-stationary disturbance. To validate the applicability of the present control algorithm, a series of experiments are carried out under stationary and non-stationary disturbance conditions with K ranging from 0 to 1. Our results indicate that it is possible to find an appropriate value for K to realize a relatively optimal control of both vibration and consumed current simultaneously.

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Booktitle: Proceedings of ISMB10