摘要：We proposed a dynamic model identification and design of an H-Infinity （i.e.H） controller using a LightweightPiezo-Composite Actuator （lipca）.A second-order dynamic model was obtained by using input and output data, and applyingan identification *** identified model coincides well with the real *** reduce the resonating mode that istypical of piezoelectric actuators, a notch filter was used.A feedback controller using the Hcontrol scheme was designed basedon the identified dynamic model; thus, the lipca can be easily used as an actuator for biomemetic applications such as artificialmuscles or macro/micro positioning in *** control algorithm was implemented using a microprocessor, analogfilters, and power amplifying *** simulation and experimental results demonstrate that the proposed control algorithmworks well in real environment, providing robust performance and stability with uncertain disturbances.