Text this: An analysis and design framework for robust control of a multi-axis active vibration isolation system with unknown payload

 ______     _____    _    _      ___    __    __  
|      \\  |  ___|| | || | ||   / _ \\  \ \\ / // 
|  --  //  | ||__   | || | ||  / //\ \\  \ \/ //  
|  --  \\  | ||__   | \\_/ || |  ___  ||  \  //   
|______//  |_____||  \____//  |_||  |_||   \//    
`------`   `-----`    `---`   `-`   `-`     `