Time-delay pre-filter design for vibration free tracking of periodic reference signals

R.J.R. Maas, van der, T. Singh, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

3 Citations (Scopus)
5 Downloads (Pure)


The aim of this work is the development of time-delay filters that enable tracking of periodic signals with zero phase error. Time-Delay control or input-shaping is a proven technique to reduce motion induced vibrations for systems with lightly damped modes subject to point-to-point movements. An extension is proposed for systems subject to periodic reference signals, for which a closed-form solution is provided for second-order systems, followed by a generalization for higher order systems and multi-harmonic reference signals. It is shown that the theory enables a significant reduction of tracking errors for non-differentiable reference signals. The paper concludes with the presentation of an approach to desensitize the pre-filter to uncertainties in the forcing frequencies.
Original languageEnglish
Title of host publicationProceedings of the American Control Conference (ACC), 1-3 July 2015, Chicago, Illinois
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4799-8685-9
Publication statusPublished - 2015


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