抄録
This paper presents a new input shaping design for flexible system with perturbation of system parameters. Typical input shaping is designed by modal parameters and robust to the modal parameter uncertainties. However, robustness to perturbation of certain interesting system parameters has not been explicitly provided. We formulate the input shaping design problem which minimizes the probable residual vibration under the existance of uncertain parameters, and translate this problem into LMI problem. The new input shaper we propose is experimentally verified on the flexible robot arm.
