In this paper a hierarchical control scheme is proposed to improve vibration suppression using an electro-mechanical system based in the lever principle. The hierarchical control consists of two controllers, a LQG LTR and a fuzzy system, that present high efficiency under different operation conditions and a supervisor based on fuzzy logic that combines the control signals from each one of the controllers to obtain superior performance in a wide range of operating conditions. Digital simulation was used to evaluate the performance of this control scheme during tracking reference under several disturbances.