Benchmarking optimal control strategies for flexible systems

With so many command shaping methods available, there is a need for benchmarking so that the contributions and performance of a particular input can be assessed. This paper develops a closed-form solution for the move plus settling time of a rigid body input when applied to a flexible system with damping. The rigid body solution creates an upper and lower bound on most feasible solutions for systems with actuator constraints. This paper describes the usefulness and importance of benchmarking using the rigid body solution as well as other inputs