Minimization of l(2) norm of the error signal in posicast input command shaping: A polynomial approach

摘要

In this paper, design of a posicast input command shaper is formulated in discrete-time domain as minimization of l(2) norm of the error sequence. This optimization task is solved by simple algebraic manipulation with polynomials, namely, solving two-sided linear equations with polynomials and modular shift of a polynomial. Numerical examples are given to demonstrate properties of the optimal design in contrast with the classical Smith's design technique achieving complete cancellation of residual vibrations. Copyright (c) 2006 John Wiley & Sons, Ltd.