Vibration control of flexible structure with multiple modes using input shaping

The vibration control of flexible object that has multiple modes is studied in this paper. Two EI shapers based on Zero-placement technique are introduced firstly and then they are used to reduce the residual vibration of flexible structure. Different from the available method, this method does not design shaper for every mode but design a shaper based on nominal mode so all modes locate on the allowable range of the shaper or its periods. With this method, the impulse and delay time reduce largely. An example is given and the simulation proves the validity of this method.