Input preshaping vibration suppression of beam-mass-cart systems using robust internal-loop compensator

In this paper, an input preshaping control method with robust disturbance attenuation algorithm is proposed to suppress vibration of a translating flexible beam carrying a fixed or moving mass. The input preshaping method is based on the analytic modeling of the system and frequency equation as a function of various parameters including the position of moving mass. By using a generalized framework for disturbance attenuation, it is shown that an input preshaping method can be easily designed to reduce single mode residual vibration and to get accurate positioning of a beam-mass-cart system in the presence of uncertainty and disturbance.