Transient deflection performance measures for command shapers

Input shaping is a technique used to reduce command-induced vibration. Recently, a class of input shapers has been developed to limit both the residual vibration and the transient deflection of flexible systems. This paper evaluates two types of commands: pre-computed, deflection-limiting commands for a floating oscillator given a fixed move distance and real-time deflection-limiting command shapers for a mass under PD control. For these command shapers, transient performance is just as important as residual vibration. Therefore, the effect of modeling error on transient performance must be considered. Transient deflection sensitivity plots are presented to gauge the effectiveness of these commands in meeting their design goals. An evaluation of the effectiveness of traditional residual vibration performance measures to predict the transient performance robustness is also presented.