Useful applications of closed-loop signal shaping controllers

Input shaping is a well-established open-loop technique used for reducing the vibratory response of dynamic systems. Some researchers have investigated the stability and utility of using this technique within a feedback control loop. The main contribution of the prior investigations was to identify stable configurations of in-the-loop input shaping systems. This paper identifies three promising applications of the stable controllers. Performance comparisons are made between the in-the-loop input shaping systems and more conventional feedback control strategies. Experimental results from a 10-ton industrial bridge crane, a portable bridge crane, and a portable tower crane are used to demonstrate the utility of the closed-loop input shaping control architecture.