An expert system for the design of input shapers

Input shaping is a command generation technique that reduces vibration by convolving a sequence of impulses, known as the input shaper, with any desired system command. The success of the approach depends on the characteristics of the input shaper. Numerous shapers have been proposed, each with unique properties. The selection of an input shaper for any given system has generally relied to some degree on the knowledge of an expert. An expert system has been developed in an attempt to capture the expertise involved in input shaper design. Furthermore, the design of the input shaper can be refined if the system response is fed back into the expert system.