Recent results in reference prefiltering for precision motion control

Input Shaping/Time-Delay Filtering is now an established approach for shaping reference inputs to minimize residual vibrations for rest-to-rest maneuvers, velocity and periodic tracking controllers, and to minimize excitation of high frequency unmodelled modes. At the core of successful reference shaping approaches have been the encapsulation of robustness to model parameter uncertainties. Special attention has also been paid to incorporation of the input shapers within closed loops of various configurations. This paper reviews existing designs for input shaping and highlights some of the latest contributions related to input shaping for precision motion control.