Design of proportional-derivative feedback and input shaping for control of inertia plants

Closed-loop feedback control and command shaping are often used together to achieve superior control performance. In many cases, the feedback control is designed and implemented first. Then, the command shaping is designed to improve the resulting closed-loop dynamics. However, there is an often-overlooked advantage of optimally combining these two control schemes. This study will show that proportional and derivative feedback control can be intelligently used to create a closed-loop system that is particularly advantageous when input shaping is used as a filter outside of the loop. Experimental results are shown to verify the theoretical developments.