A series of experiments was performed using the hardware
in Section IV. Considering the bandwidth and numerical
resolution, the control rate was chosen to be 200 Hz. Test
plans were the same as in the simulation, which included the
time-delay effect and the PIESO controller with and without
disturbances. The sinusoidal disturbances were vibrational and
were generated by an ling dynamic systems (LDS)-850 large
shaker, which is shown in Fig. 5.