SINGLE-MODE VIBRATION SUPPRESSION FOR A BEAM–MASS–CART SYSTEM USING INPUT PRESHAPING WITH A ROBUST INTERNAL-LOOP COMPENSATOR

In this paper, single-mode vibration suppression of an elastic beam fixed on a moving cart and carrying a concentrated or moving mass is considered. A modified pulse sequence method with robust internal-loop compensator (RIC) is proposed to suppress single-mode residual vibration and to get accurate positioning of the beam–mass–cart system. The performance of the proposed input preshaping method is compared with that of the previous ones by both numerical simulations and experiments. Using the proposed method, it is possible to suppress initial vibration of the beam–mass–cart system carrying a concentrated mass. Accurate PTP positioning of the moving mass without residual vibration is also obtained experimentally by modifying the proposed pulse sequence method. Finally, the proposed input preshaping method is applied to the system for following square trajectories of the moving mass without residual vibration