Robustness improvement by convolving two ZV input shapers

ZV input shaping control is simple and intuitive for reducing residual vibrations, but it is not robust to modeling errors of the plant. A few ways to increase the robustness of the ZV input shaper has been developed, which includes ZVD shapers, EI shapers, and SI shapers. As another way, the robustness of the ZV input shaper can be improved by convolving two simple ZV input shapers. In this paper, a systematic way to design a robust input shaper using two simple ZV shapers is introduced, and the resulting robust input shaper is demonstrated by simulation and experimental studies using a linear motion control device.