Digital shaping filters for reducing machine vibration

A digital shaping filter used to shape the input to digitally controlled flexible plants is derived from an input preshaping technique to reduce residual vibration in the plant output. Results from simulations show that these filters reduce plant residual vibration to zero. In addition, an arbitrary rate digital shaping filter is derived that allows the user to select any sampling rate for the digital system. The examination of these filters in the digital Z domain reveals them to be digital notch filters that are robust to vibration-mode parameter shifts