Design of precise ramp following input shapers

The focus of this paper is on the development of an input shaper/time-delay filter which permits precise tracking of a ramp input while eliminating residual vibrations. Zero phase error tracking is often required in applications where moving parts have to be mated, such as manufacturing lines with high production output. A simple technique consisting of a ramp shaped profile in conjunction with a step shaped profile is shown to achieve the desired performance. The performance of this technique is compared with other input shaper designs in current literature, and has shown to achieve smaller settling time and maintain zero steady state phase error without the use of predictive path scheduling. The technique is then physically applied to a single pendulum gantry crane system with encouraging results.