Date of Award

Fall 1996

Document Type


Degree Name

Master of Science in Electrical Engineering - (M.S.)


Electrical and Computer Engineering

First Advisor

Timothy Nam Chang

Second Advisor

Andrew Ulrich Meyer

Third Advisor

Edwin Hou


In this thesis, vibration control using input shaping algorithm is studied. Vibration Control of flexible structures is an important problem and has been an active research area. Different approaches have been developed for vibration control which can be divided roughly into feedback and feedforward methods. Feedback methods need measurements and on-line calculation of the controller outputs. Although feedback methods are generally more robust and have a number of well known performance advantages, proper use of feedforward control can also significantly improve the speed of response of the system.

Input shaping is one of these feedforward methods. It has been successfully applied to many control problems even in the presence of modeling uncertainties and structural nonlinearities. In many industrial problems, the objective is to position a load in minimum time without exciting the vibratory modes. hi input shaping, the aim is to give zero energy to these modes by performing "input prefiltering" or equivalently pole-zero cancellation in the command feedforward path. To carry out this prefiltering function, the natural frequency (ωn) and the damping ratio (ζ) of the plant are required for the shaper design [I].

This work is organized as follows; in the hardware part, basic information about a cartesian robotic module, an EXC controller, a VME controller, and a Dalanco Spry digital signal processing board is given. In Chapter 3 the input shaping technique is introduced. In Chapter 4 control system design and implementation of Zero Vibration (ZV). Zero Vibration & Derivative (ZVD), and Extra Insensitive (El) shapers are given. In Chapter 5 results of ZV, ZVD, and El shapers will he given. Comparison and suggestions for improvement are also given in this chapter. concluding remarks are given in Chapter 6.