ROBUST RESIDUAL VIBRATION SUPPRESSION FOR LINEAR TIME INVARIANT SYSTEMS BY DIGITAL FILTERING OF THE GUIDANCE FUNCTION

A method for suppressing residual vibrations is proposed, using digital filtering of the guidance function prior to its application to a mechanical system. The general requirements are first established for the robust behaviour of the guidance function, not only to cover modelling imperfections but also to compensate variations of the system parameters. These requirements are then shown to be met by the proper design of a digital filter (finite impulse response or infinite impulse response). The results are verified on a simulated MDOF mechanical system, where the payload is varied over a wide range. The proposed method is quite general for any type of linear time invariant (LTI) system, completely independent from the original form of the guidance function and simple to implement.