Comparison of filter types used for command preconditioning in vibration suppression applications

A vast variety of filter types were proven to be effective and efficient for robust residual vibration suppression, when they are applied for input or command preconditioning. These filter types include a class of specifically designed notch finite impulse response (FIR) filters-known as "input shapers", conventional low-pass FIR filters and conventional low-pass infinite impulse response (IIR) filters. Although all these filters possess good vibration suppression properties, they present different performance characteristics. A comparison of these filters is attempted in the paper, in order to evaluate the advantages and the drawbacks of each filter type. It is concluded that certain conventional FIR filters (the filter designed using a Chebyshev window, the Parks-McClellan filter and the constrained least squares filter) and a specific IIR filter (the Thiran filter) are the best performing filter types, especially when they are used to suppress vibration of systems with multiple modes or when they are used to suppress vibration of time-varying systems.