Double oscillatory mode compensation by inverse signal shaper with distributed delays

Signal shaping technique can be distinguished as a very effective tool for suppressing both single and multiple oscillatory modes of a system linked with the shaper. Utilizing the concept of inverse signal shapers placed in the feedback loop, the double oscillatory mode suppression is addressed, considering that the oscillations induced by both the reference signal and the disturbance changes are to be compensated. In order to avoid the closed loop neutrality of the dynamics, the lumped delay that is usually considered in the shaper structure is substituted by a distributed delay. Next to the theoretical analysis, both the numerical and experimental examples are included.