A technique is presented to design input signals for point-to-point control problems with the property of minimal excitation of parasitic system oscillations. This technique is compared to impulse based input design techniques in experiments performed on an industrial XY-positioning table. Impulse input shaping was formulated as a solution to an optimisation problem, which has been transformed for the case of point-to-point problems, resulting in a more time-optimal solution. The results from this new optimisation are very impressive considering the simplicity.
|Title of host publication||Proceedings of the 39th IEEE conference on decision and control : December 12-15, 2000, Sydney, Australia. Vol. 1|
|Place of Publication||Piscataway|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2000|