Auto tuning of systems with input shaping

Input shaping is a simple method used to avoid oscillations in mechanical systems. The usage of this method is very simple and doesn't require complicated elements in runtime. The main problem of input shaping is the proper identification of natural oscillation frequencies and damping coefficients. The paper shows two algorithms of auto identification and auto tuning of input shapers. Algorithms were tested on simple transfer-function objects and on a simulation model of two-mass system. The research was made in Matlab/Simulink environment.