Increasing robustness of input shaping method to parametric uncertainties and time-delays

M. C. Pai, Alok Sinha

Research output: Contribution to journalArticlepeer-review

4 Scopus citations


The input shaping technique has proven to be highly effective in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping depends on the amplitudes and instants of utilized impulses. However, systems always have parametric uncertainties, which can lead to performance degradation. Furthermore, input shaping method does not deal with vibration excited by external disturbances and time-delays. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structure and uncertain time-delay flexible structure systems. The algorithm is based on the sliding mode control and H /μ techniques. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parametric uncertainties, time-delays and external disturbances as well. Also, it is shown that increasing the robustness to parametric uncertainties and time-delays does not lengthen the duration of the impulse sequence. Numerical examples are presented to verify the theoretical analysis.

Original languageEnglish (US)
Article number021001
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number2
StatePublished - Mar 18 2011

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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