Performance Measure of Residual Vibration Control

The robustness of residual vibration control, such as input shaping, has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping at the time of the final impulse. However, in that robustness evaluation, vibration-suppressing speed due to each residual vibration control has not been considered, which is also an important aspect of residual vibration control. In this paper, a performance measure including robustness to modeling errors and the effect of vibration-suppressing speed is defined, and the validity of the performance measure is demonstrated by simulations and experimental works.