An Input Shaping Method Based on System Output

In this paper, an input shaping method is proposed. This method only requires the system output, and doesn't need the system model information. In the application of this method, the basic form of an input shaping filter is first decided, then according to the form of the filter, the system output is decomposed into several weighted signals. Based on the decomposition, the least square method is applied to minimize the difference between the actual system output and the reference system output. In this way, the vibration in the system output is eliminated and the desired bandwidth of the whole system can be fulfilled. Copyright © 2014 IFSA Publishing, S. L.