Effect of Input Shaping on Actuator Effort of Inertial Plants

Most motion control systems are designed to satisfy the performance requirement in transient and frequency domain. The actuator effort of the control system is rarely considered during the design process. This paper investigates the effects of input shaping on actuator effort of PD combined with input shaping control for an inertial plant subject to four standard types of inputs. The actuator efforts of the control systems are described in general fomula. The acting regulation of PD controller parameters on the oscillatory frequency and damping ratio of actuator effort is investigated and the effect of input shapping on the magnitude of actuator effort is thoroughly analyzed. The research results show that PD feedback control enhanced with input shaping can effectively reduce actuator effort compared with PD control.