(c) (d) Fig. 5 Uncontrolled and controlled responses to walking excitation as well as actuator force and point accelerance frequency response functions (FRFs) for IMSC design 2 5 RESULTS AND CONCLUSIONS Tables 1 and 2 demonstrate the vibration mitigation performances of the two IMSC controller structures outlined in section 1.4. The benefits of the IMSC controller design technique in meeting the desired vibration mitigation performances can clearly be seen from these results. Table 1. Peak 1s running RMS acceleration for uncontrolled and controlled laboratory structure model under walking excitation for IMSC Controllers 1 and 2 Case Uncontrolled (ms-2) Controlled (ms-2) % red. IMSC Controller 1 0.44 0.088 80.0 % IMSC Controller 2 0.44 0.054 87.7 % Table 2. Attenuations in vibration at target modes of vibration (4.55 Hz and 17.02 Hz) for IMSC Controllers 1 and 2 Case Attenuation Mode 1 (dB) Attenuation Mode 2 (dB) IMSC Controller 1 10.0 0.0 IMSC Controller 2 10.0 13.0 221
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