Multiple degree-of-freedom (DOF) vibration isolation is essential for precision control of space-borne structures and weapon systems. A new design and analysis of actuators employing magnetostrictive material TbDyFe is presented. Then, this paper studies the design and control problems of a six DOF Stewart platform using the concept of cubic configuration. Optimal geometry for the sensor configuration to get best signal is designed. To control the smart structure, a real time computer control system is built. Improved robust adaptive filtering algorithm based on nonlinear constitutive relation proposed in this paper and used in the computer control system. More than 20 dB of vibration attenuation is achieved in real-time experiments.