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On a Simplified Residual Vibration Ratio Function for Input Shaping Control
Author(s) -
Kang ChulGoo,
Kwak JungHan
Publication year - 2014
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.573
Subject(s) - residual , control theory (sociology) , vibration , equivalence (formal languages) , damping ratio , function (biology) , vibration control , natural frequency , input shaping , robustness (evolution) , mathematics , computer science , algorithm , acoustics , control (management) , physics , artificial intelligence , biochemistry , chemistry , discrete mathematics , evolutionary biology , gene , biology
In the literature of input shaping control, two kinds of residual vibration ratio function have been introduced for evaluating the robustness of input shaping control to modeling error. Also, two types of derivative constraints for the residual vibration ratio function have been used for suppressing residual vibration under the condition of having some modeling errors in natural frequency and damping ratio. In this paper, a simplified residual vibration ratio function is presented, which is more convenient to use than the conventional function, and the equivalence of two derivative constraints for the simplified residual vibration ratio function is shown mathematically. The validity of the assertion is demonstrated by means of simulation and experimental studies.