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Point-to-point control of a MIMO servomechanism

Many modern mechanical servomechanisms require high precision point-to-point motion of a mass without residual vibration. In our previous paper (1997) we showed how residual-free motion could be accomplished for one linear motor of a high-precision servo. In this paper, we show how the theory of command shaping for residual free motions can be extended for systems with multiple inputs and outputs.