Experimental verification of robustness measures for input shaping control

Since input shaping control is based on open-loop control technique, robustness to modeling error is crucial for successful application of it. The robustness of input shaping control has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping. However there has been no serious consideration on robustness measures of input shaping control, and no experimental demonstrations for the robustness measures of it. In this paper, three robustness measures for input shaping control are considered and the validity of the robustness measures is demonstrated experimentally using an up-down motion control apparatus with a flexible horizontal beam designed by us in our lab.