Control effort reduction analysis of Zero-Vibration model reference control for controlling a time-varying plant

This paper investigates the combination of input shaping and model reference control. The benefits of the proposed controller design include robustness against plant uncertainties and parameter estimation errors, while achieving good vibration suppression. The controller design is applied to a pendulum payload plant with time-varying parameters. The state space representation of the reference model and the time-varying plant are derived. The Lyapunov control law and Zero-Vibration input shaper utilized to formulate the control signal are presented. Simulations reveal that input shaping, when implemented with the model reference control, can perform effectively in both vibration suppression and state tracking, even in the presence of the variable parameters. Input shaping also contributes to reducing the control effort magnitude for large ranges of system parameter values and the parameter variances.