Inhibiting multiple mode vibration in controlled flexible systems

Prior research has led to the development of input command pre-shapers that can significantly reduce residual vibration. These shapers exhibit marked insensitivity to errors in natural frequency estimates and can be used to minimize vibration at more than one frequency. A method is outlined for the development of multiple mode input shapers. An examination is made of the results of shaper performance tests conducted on linear and non-linear computer models of MACE, an MIT/NASA experimental flexible structure.