Oscillatory Effects of Common Hard Nonlinearities on Systems Using Two-Impulse ZV Input Shaping

Abstract

Input shaping is an effective method for reducing the oscillatory motion of linear systems. However, hard nonlinearities, such as saturation, rate limiting, backlash, and dead-zone, can reduce the effectiveness of input shaping at suppressing oscillation. This paper quantifies these detrimental effects and presents mitigation strategies. 

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