DESIGN AND SENSITIVITY ANALYSIS OF AN INPUT SHAPING FILTER IN THE Z -PLANE

A variety of input shaper has been proposed to reduce the residual vibration of flexible structures. However, the complexity to solve the non-linear simultaneous equations increases due to addition of the constraints to improve the robustness of an input shaper. In this paper, by proposing a graphical approach which places the shaper zeros on the z -plane, the input shaper could conveniently be designed even if the constraints are added for further robustness. Furthermore, it is shown that the proposed method could be accommodated with the variations of both natural frequency and damping ratio. With a mass–damper–spring model, a better performance is obtained using the proposed new multi-hump input shaper.