Design of Closed-Loop Input Shaping Controllers

Input Shaping/Time Delay Prefilter are techniques for robust vibration control of slewing flexible structures. These are open-loop schemes and cannot handle uncertain initial conditions and effects of disturbances. In this paper, we develop a technique for the design of closed loop input shapers and illustrate it on a simple benchmark problem. Range of uncertainties over which the system remains stable is determined and is used as a design tool. It should be noted that the structure of the controller is similar to the Internal Model Control (IMC).