Abstract This paper presents the application of a two-degree-of-freedom (2dof) control of an electrodynamic shaker that is not permitted to employ the iteration control method. In order to improve the control performance, an adaptive filter is added to the 2dof controller using μ -synthesis in the feedback controller. The uncertainty of the controlled plant is taken into account and the adaptive filter based on the H ∞ filtering problem is employed. In comparison to using a general 2dof controller and adaptive filter, the system remains robust against the uncertainty. A good performance for the controller is achieved in experiments by using actual equipment with the nonlinear characteristics that exists in the secondary path.