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In this study, we consider the vibration mitigation problem for a structural system using a magneto-rheological (MR) damper. For this purpose, through the use of Lyapunov-based design techniques, a nonlinear adaptive controller which can compensate the parametric uncertainties related to both the structural system and the MR damper has been constructed. To overcome effects of the unmeasurable internal dynamics of the MR damper on the controller, a filterbased design has been utilized. Experimental results performed on a six-degree-of-freedom (DOF) structure installed on a shaking table, illustrating the viability and the performance of the proposed method are also included.

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