ANALYSIS OF THE FREQUENCY, DAMPING, AND TOTAL INSENSITIVITIES OF INPUT SHAPING DESIGNS

In the modeling of flexible structures, there is generally uncertainty in both the frequencies and damping constants, and, thus, it is impor tant that the control methods for such systems be robust to these unce rtainties. Input shapers have been shown to yield good performance whi le being insensitive to modeling errors. Most previous studies, howeve r, have addressed only frequency modeling errors. In this study, model ing errors in damping are considered as well, and a total insensitivit y measure is defined that incorporates both frequency and damping mode ling errors. An analysis of several types of input shapers shows a dif ferent ordering of shaper types in terms of their total insensitivity to frequency and damping modeling errors compared to previous studies and comparisons of these shaper types in terms of uncertainty in freqe uncy alone.