Journal of the Korean Society for Precision Engineering (한국정밀공학회지)
- Volume 16 Issue 4 Serial No. 97
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- Pages.155-162
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- 1999
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
Design of Robust Input Shaping Filter in the Z-domain
Z-영역에서 강인한 입력성형필터의 설계
- Published : 1999.04.01
Abstract
Input shaping technique has been used as a simple method of controlling the residual vibration of a flexible manipulator. With the conventional methods previously proposed by several authors, the frequency range that shows a good performance is restricted. When the designed frequency being different from the natural frequency of a system, the performance of control degrades remarkably. This paper introduced a new technique that designs input shaping with robustness in the z-domain.