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Copley Controls 187
C.5: Input Shaping
Input shaping is a method by which unwanted command induced vibrations are kept to a
minimum by damping them with superimposed impulses. This produces a command that
will drive the system with limited residual vibration.
In order to set the input shaping parameters, first measure the mechanical frequency; see
C.5.3: Measuring Mechanical Vibration (p. 189).
Below is a diagram of the input shaping process.
Below is a sensitivity curve. When F = Fm, there is zero vibration.