Nonlinear control for maneuvering multiple flexible mode systems

This paper derives closed-loop control laws using a phase-plane approach for flexible structures having two flexible modes. The flexible modes are addressed by using multi-mode input shapers to shape the time-optimal control for the rigid body portion of the system, and then the altered rigid body phase-plane trajectories resulting from this shaping are solved and used to determine a closed-loop controller. Both "convolution" and "simultaneous" method multi-mode input shapers are considered. Simulations show that the derived control laws applied to a disk drive system yield near time-optimal performance without unwanted residual vibrations.