Input shaping for a simple nonlinear system

Input shaping is a command modification technique for reducing system vibration that has been implemented successfully on a number of mechanical systems. Input shaping was developed from linear systems theory, but it has been applied successfully to many nonlinear systems. Of the approaches used to shape commands for nonlinear systems, very few address the specific nonlinearities of the systems directly. This paper addresses a special subset of configuration-dependent nonlinearities. The effect of input shaping on these types of systems is analyzed and key motion command parameters are extracted. This analysis is utilized to design effective zero-vibration input shapers for the class of nonlinear systems considered here.