Use of input shaping technique with a robust feedback control and its application to the position control of surface mount machine

The input shaping technique (IST) and a robust feedback control law were combined to achieve fast and precise point-to-point motion of the surface mount machine. The time delay control (TDC) was used as a feedback control to overcome the disturbances and parameter variations. And the IST was used to suppress the residual vibration. The TDC was designed first, and the discrete version of input shaping was implemented on the basis of the closed-loop dynamics. Consequently, the fast point-to-point motion was accomplished with few steady state error or residual vibration