An analysis and comparison of frequency-domain and time-domain input shaping

The technique of input shaping has been successfully applied to the problem of maneuvering flexible structures without excessive residual vibration. With input shaping, non-negative impulse shapers are often desired because they can be used with any arbitrary (unshaped) commands and do not cause actuator saturation (if these original unshaped commands do not cause actuator saturation). We outline conditions when non-negative amplitude shapers will result when using frequency-domain methods of input shaping, and we draw comparisons with time-domain input shaping in terms of shaper length (speed) and number of impulses (ease of implementation)