Robust analytic deflection-limiting commands

Methods for rapidly computing command signals that can move a flexible system without residual vibration and also limit the transient deflection have recently been introduced. These types of commands utilize a simple model and their performance is sensitive to both the accuracy of the system model and the desired move distance. Robust analytic deflection-limiting commands are described and evaluated in this paper. On average, the new formulation produces commands that are nine times more robust than the previous formulation. Traditional methods for measuring robustness fail to capture all the important features of these rest-to-rest commands. However, their results compare favorably to performance measures designed specifically for deflection-limited commands. Simulation results on a mass-spring-mass system are used to demonstrate the key advancements