Zero vibration shapers with distributed delays of various types

The paper deals with design and analysis of novel zero-vibration (ZV) signal shapers. The shaper structure is based on replacing the lumped delay of the classical ZV shaper by a series of lumped and either equally or triangularly distributed delays. For the parametrization purposes, the spectral theory of time delay systems is applied with the aid of numerical tool for computation of rightmost part of infinite spectra of shaper zeros. In the analysis performed, the novel shapers show better spectral, step response and robustness features compared to the classical ZV shaper in some aspects. An experimental example is included to demonstrate the novel shaper performance.