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振动主动控制通常采用最优控制。文中根据柔性机构的特点，采用内模控制策略。内模控制主要适合于具有周期性扰动信号的调节问题和具有周期性参考信号的跟踪问题，它的优点是对被控对象参数具有鲁棒性，克服了最优控制需要精确掌握被控对象参数的缺点。文中首先介绍了内模控制的基本原理，然后给出了数值仿真结果，最后将算法应用到柔性四连杆机构振动主动控制试验中。试验结果证明了方案的可行性。
Active vibration control usually adopts optimal control. According to the characteristics of flexible mechanism, the paper adopts internal model control strategy. The internal model control is mainly suitable for the adjustment problem with periodic disturbance signals and the tracking problem with periodic reference signals. Its advantage is that it is robust to the parameters of the controlled object. To overcome the optimal control, it is necessary to accurately grasp the parameters of the controlled object Shortcomings. In this paper, the basic principle of internal model control is introduced first, and then the numerical simulation results are given. Finally, the algorithm is applied to the active vibration control of flexible four-bar linkage. The test results prove the feasibility of the scheme.