An adaptive algorithm for the tuning of two input shaping methods

Presents an adaptive algorithm for the tuning of two input shaping methods designed to prevent the excitation of oscillatory modes in resonant systems. The first method produces a control signal that is the linear combination of delayed versions of the reference input. The transfer function of the control system has an infinite number of complex zeros, with some of them placed exactly at the locations of the resonant modes of the plant. In contrast, the second method is based on a pole/zero cancellation of the resonant modes using a finite-dimensional controller. An adaptive algorithm is used for the tuning of both methods. Experimental results are presented for a system in which a motor is used to control the position of a flexible arm. The control performance is shown to be comparable for both methods and the adaptive algorithm is found to be both simple and effective for fast adaptation