Flexible Mode Compensation by Inverse Shaper in the Loop with Magnitude Saturated Actuators

Alikoc B., Busek J., Vyhlidal T., Hromcik M., Ergenç A. F.

20th World Congress of the International-Federation-of-Automatic-Control (IFAC), Toulouse, France, 9 - 14 July 2017, vol.50, pp.1251-1256 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 50
  • Doi Number: 10.1016/j.ifacol.2017.08.350
  • City: Toulouse
  • Country: France
  • Page Numbers: pp.1251-1256
  • Istanbul Technical University Affiliated: Yes


An input shaping architecture for vibration suppression of flexible systems controlled with magnitude saturated actuators is considered. It is shown that the distributed-delay shapers with the inverse form in the feedback path have the capability of canceling the undesired vibration caused by saturation limit of actuators. The main idea is to treat the saturation effect as a disturbance on the control input of the actuator which can be canceled by the shapers in the feedback control loop. The inverse form of a recently proposed distributed-delay shaper is utilized to dispose of the undesired vibrations subject to saturation. The theoretical results are compared with an existing solution and verified on a laboratory set-up. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.