The Application of Input Shaping to a System with Varying Parameters

The Application of Input Shaping to a System with Varying Parameters David P. Magee, Graduate Student Dr. Wayne J. Book, Professor George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition gives better insight into the ability of input shaping method to reduce vibration. The extension of input shaping to a system with varying parameters, e.g. natural frequency, is discussed and the effect of these variations is shown to induce vibration. A modified command shaping technique is developed to eliminate this unwanted motion.