MIMO U-model based control: real-time tracking control and feedback analysis via small gain theorem
WSEAS Transactions on Circuits and Systems
| Hi-index | 0.00 |
Input shaping is a residual vibration reducing technique for flexible structures. The desired command is convolved by a sequence of impulses to generate an input shaper so that the system reaches the set point in a minimum duration. Zero Vibration (ZV) shaper is the first form of input shaping technique. Zero Vibration and Derivative (ZVD) and Extra Insensitive (EI) are the most preferred shapers. These shapers are developed to improve the robustness respect to modeling errors. Solution of the parameters requires the derivation of constraint equations. Therefore, these shapers can only be used for linear systems. This paper presents that ZVD and EI shapers are the special solutions of Three-Step (TS) input shaping space. By using TS technique, infinite number of three impulse shaper solution can be generated for both positive and negative impulse amplitudes including ZVD and EI. The duration of the shaper is between ZV and ZVD. Some of them are better in robustness somewhat. Analyses and results of some specific points are given for the time-robustness compromise.