Abstract: This paper documents new command shapers designed to both eliminate the residual vibration and reduce the transient deflection of a flexible system. Equations are derived to predict both the ...

Abstract: Input shaping is a filtering method used for reducing oscillation in flexible systems. A class of these filters, called negative input shapers, has been developed to improve system rise-time ...

Abstract: Input shaping is an effective method for reducing oscillatory motion in linear systems. Many physical systems, however, exhibit discontinuous dynamics, such as saturation, rate limiting, backlash, ...