• 한국정밀공학회지
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• 제19권1호
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• pp.135-142
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• 2002

Input shaping is a method for reducing residual vibration in computer controlled machines. Vibration is eliminated by convolving a sequence of impulses, an input shaper, with a desired system command to produce a shaped input. This paper shows the shape of sensitivity curve of input shaper as impulse interval T and analysis of robustness for input shaper on the z-plane. And a method is presented for designing equivalent input shaper considering sampling time $T_s$. And then we applied equivalent input shaper to crane system.