An Adaptive Algorithm For The Tuning Of Two Input Shaping Methods

Nur Hafizah , Hassan (2011) An Adaptive Algorithm For The Tuning Of Two Input Shaping Methods. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The project presents an adaptive algorithm for the tuning of two input shaping methods designed to prevent the excitation of oscillatory modes in resonant systems. The first method produces a control signal that is the linear combination of delayed versions of the reference input. The transfer function of the control system has an infinite number of complex zeros, with some of them placed exactly at the locations of the resonant modes of the plant. In contrast, the second method is based on a pole/zero cancellation of the resonant modes using a finite-dimensional controller. An adaptive algorithm is used for the tuning of both methods. In this project, the problem of controlling systems with resonant modes is considered. For simplicity, attention is focused on second-order systems. The system is developed and simulated by using MATLAB software. The control performance is shown graphically to be comparable for both methods and the adaptive algorithm is found to be both simple and effective for fast adaptation.

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