Minimizing Residual Vibration With Resonance Filter for Nonminimum-Phase Plants

This paper presents a method for designing a resonance filter to improve steady-state response as well as transient response in nonminimum-phase systems. The resonance filter was designed via the plant inversion of a minimum-phase reduced-order plant model. With the resonance filter, the state feedback controller based on the nominal second-order rigid body model was used in the servo system. The resonance filter reduces the peak of the magnitude of the sensitivity function while improving the transient response. The numerical case study supports the robustness of the proposed resonance filter against parameter uncertainties.