A zero-placement technique for designing shaped inputs to suppress multiple-mode vibration

The performance of many flexible systems can be improved by employing command shaping techniques to reduce machine vibration. The input shaping technique, in particular, has proven to be highly effective for a wide class of systems. Due to the mathematical complexity of higher-order problems, multiple-mode input shapers can be tricky to derive and difficult to understand. This paper proposes a new approach for deriving input shapers using zero-placement in the discrete domain. The flexibility and simplicity inherent in this formulation provide many options for maximizing shaper performance.