The control of piezostructures using direct rate feedback (DRFB) is discussed. The collocated condition is achieved using piezoelectric sensoriactua-tors. The effects of partial compensation on the locus of system zeros is discussed with the result that under-compensation results in an equal number of poles and zeros alternating along the imaginary axis. Global stability of DRFB with partially compensated sensoriactuators is proven, and is shown to be asymptotically stable for structures without rigid-body dynamics. DRFB closed-loop response is discussed, and the trade-offs due to the interaction of mechanical and electrical dynamics are illuminated.
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