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Design an Input Shaper to Reduce Operation-Induced Vibration

This paper proposes an input shaper, which is insensitive to the error in estimating the vibration information, to eliminate residual vibration and also to reduce the transit vibration induced by the operation of a flexible mechanical system. The input shaper, which preconditions the command input and suppresses multiple vibration modes, is designed by a pole/zero placement approach based on estimated system poles. This pole/zero placement method provides better performance and easier design procedures than existing input shaping algorithms. Transfer function analysis shows that proposed shaper actually resembles a notch filter that has zero gain and zero derivative at the poles to be suppressed. However, the input alteration due to the shaper limits this approach to point-to-point operations, or relatively slow tracking operations.