Performance measures for input shaping

Input shaping is a technique used for reducing command-induced residual vibration. A train of impulses, known as the input shaper, is convolved with a reference command, such that the new command causes little or no vibration. The performance, or efficiency, of the input shaper is generally measured by comparing the residual vibration from the shaped command with the residual vibration from the unshaped command. This paper addresses critical issues regarding this and other basic measures of input shaper performance. The result is a thorough understanding of the role of performance measures and, in addition, the generation of more meaningful performance measures.