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In this paper a precompensator (input shaper) for controlling the position and the swing of a pneumatic pendulum system is presented. The main objective of the applied control scheme is to achieve precise final positioning and swing suppression during the system's movement. The suggested "input-shaper controller" is contrasted in experimental studies with several conventional control algorithms in a prototype pneumatic setup. The system's response reflects the efficacy of the applied scheme, where it is shown that proper tuning of the controller's parameters is needed.