Input shaper designs for minimizing the expected level of residual vibration in flexible structures

The method of input shaping has been shown to yield good performance in the control of flexible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop an input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comparisons with previously proposed input shaper designs in terms of shaper length, frequency insensitivity, and expected level of residual vibration are presented, illustrating the qualities of the new input shaper design method