The present invention relates to a method for preventing transient vibration and residual vibration. In the present invention, disclosed is a method for designing a perturbation-based extra insensitive input shaper. The perturbation-based extra insensitive input shaper improves roughness against a modeling error in comparison with an existing input shaper when the same time delay is maintained by generating a frequent destructive interference effect in comparison with the existing input shaper by using an impulse time distribution. Also, not only the residual vibration but also the transient vibration is reduced by the frequent destructive interference effect.;COPYRIGHT KIPO 2015
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