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Mathematical Problems in Engineering
Volume 2017, Article ID 5361702, 18 pages
Research Article

Modeling and Control of Active-Passive Vibration Isolation for Floating Raft System

School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China

Correspondence should be addressed to Beibei Yang; nc.ude.tuhw@7891ecallaw

Received 21 November 2016; Revised 16 January 2017; Accepted 23 January 2017; Published 21 February 2017

Academic Editor: Orest V. Iftime

Copyright © 2017 Beibei Yang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a new approach for constructing a mathematical model of the floating raft system directly from input-output measurements in the presence of noise. In contrast to the original OKID/ERA algorithm, which works through the observer Markov parameters, the new approach used observer output residuals to convert the initial stochastic identification to a virtually deterministic identification problem. The extension of deterministic algorithm to stochastic problems by proposed stochastic-to-deterministic conversion can be done with ease. A MIMO (multiple-input multiple-output) system state-space model and an associated Kalman filter gain can be identified. controller with high robustness to model error is designed to solve multifrequency varying vibration for floating raft system. Both simulated and experimental results confirm the validity and the benefits of the approach.