Preshaping command inputs for third generation CRONE control: Robustness study

Shaping command input or preshaping is used for reducing system vibration in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual vibration. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. In a previous work, this method was extended for explicit fractional derivative systems and applied to 2nd generation CRONE control; the robustness was studied. This paper presents the extension of this method to generalized derivative systems and the application to third generation CRONE control. A robust algorithm for the shaper synthesis is developed.