Automatic tuning of input shaping filter for two-mass flexible system

The paper deals with an automatic tuning of input shaping filter added to the classic cascade control of the two-mass flexible system driven by an electric servomotor. The considered input shaping filter has a structure of weighted sum of four time delays. The tuning algorithm contains two steps. The first step of this method is to roughly estimate the damped frequency of the system. In the second step more precise estimations of the damped frequency and damping factor are provided. The function of the autotuner is demonstrated on the linear model of a cable robot with flexible rope.