Input shaper design using impulse-time perturbation method

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In this paper, symmetric perturbation-based extra-insensitive input shaper (SPEI-IS) is newly proposed based on the impulse-time perturbation method. The proposed input shaper is devised by multiplying two input shapers in Laplace domain, of which the impulse-times are slightly perturbed from the ZV shaper, which results in a hump in its sensitivity curve. Different from the PEI-IS introduced by the same author, the SPEI-IS has symmetric notch points to enhance the robustness especially in low frequency range. For its usability, an explicit solution will be presented using Taylor approximation.
Publisher
IEEE Computer Society
Issue Date
2014-10-24
Language
English
Citation

2014 14th International Conference on Control, Automation and Systems, ICCAS 2014, pp.1321 - 1324

ISSN
2093-7121
DOI
10.1109/ICCAS.2014.6987761
URI
http://hdl.handle.net/10203/313945
Appears in Collection
ME-Conference Papers(학술회의논문)
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