Jerk limited input shapers

The focus of this paper is on the design of jerk limited input shapers (time-delay filters). Closed form solutions for the jerk limited time-delay filter for undamped systems is derived followed by the formulation of the problem for damped systems. Since the jerk limited filter involves concatenating an integrator to a time-delay filter, a general filter design technique is proposed where smoothing of the shaped input can be achieved by concatenating transfer functions of first order, harmonic systems, etc.