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SUMMARYA uniÿed mathematical framework, sustained by experimental results, is presented for robust controller design taking into account the constraint on the control signal. The design procedure is exempliÿed for an active vibration suppression control problem with applications to exible structures. The considered experimental set-up is a three-storey exible structure with an active mass driver placed on the last storey. First, the considered exible structure is identiÿed and the model's parametric uncertainties are deduced. Next, control constraints are presented for the robust control design problem, taking into account the restriction imposed on the control signal. Finally, the e ectiveness of the control system is tested through experiments, when the input disturbance is assumed to be a sinusoidal one as well as a historical earthquake record (1940 El Centro record).

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