...Tarunraj Singh This paper presents the development of an input-shaper/time-delay filter, which exploits knowledge of the zeros of a minimum-phase transfer function to reduce the output-transition time for a rest-to-rest maneuver problem, compared to the traditional zero vibration (ZV) input shaper...

... + deviation + skew and compares it to the weighted minimax solution, which is considered the desired solution. It is clear for both the two time-delay filter in Fig. 4 and the three time-delay filter in Fig. 5 that minimizing the mean results in a solution that is closest to the weighted minimax...

...Tarunraj Singh 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...

... of command shaping. In this work, a multirate repetitive learning controller (MRLC) is used in conjunction with a command shaping method known as the optimal arbitrary time-delay filter (OATF) for discrete-time joint control of a single flexible link manipulator containing nonlinearities. With very little...