Shaped phase-plane control for flexible structures with friction

Describes the design of closed-loop control laws for undamped flexible structures with friction using a phase-plane approach. The time-optimal control law for a rigid body with friction is shaped using input shaping ideas to address the flexible mode, and then the altered rigid body phase-plane trajectories resulting from this shaping are solved for and used to determine a closed-loop controller. Simulation results show that the resulting controller leads to near time-optimal performance without unwanted residual vibrations.