Oscillation suppression for a class of flexible system with input shaping technique

The input shaping method has been applied to control many types of flexible systems. Input shaping is a simple and effective method. for reducing the residual vibration when positioning lightly damped systems. Also, it can be used to a class of system with oscillation to reduce or even eliminate the overshoot with the rise time as short as possible. In this paper, several types of command shaping techniques are introduced and compared. The relationship between different kinds of input shapers can be seen as well as their characteristics. Finally, applying the traditional ZVD method and the OATF to shape a closed-loop system verifies the proposed ideas.