Frequency weighted H2 optimization of multi-mode input shaper

• Published in: Automatica (Oxford) Vol. 121
• Main Authors: Goubej, Martin, Vyhlídal, Tomáš, Schlegel, Miloš
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.11.2020
• Subjects: [formula omitted] optimal design; Input shaping; Multiple modes; Time delay; Input shaping; Time delay; Multiple modes; H2 optimal design

An optimization-based design of a robust multi-mode input shaper is presented with an embedded weighting of the frequency response. By prefixing the delay length in the shaper, the optimization design task is formulated as a standard quadratic programming problem. The shaper robustness in terms of z...