Input Preshaping With Robust Internal–Loop Compensator for Residual Vibration Suppression of a Beam–Mass–Cart System

In this paper, vibration suppression of an elastic beam fixed on a moving cart and carrying a concentrated or moving mass is considered. An input preshaping method with RIC (Robust Internal–loop Compensator) is proposed to suppress single mode residual vibration and to get accurate positioning of the beam–mass–cart system. The performance of the proposed input preshaping method is compared with that by previous ones by both numerical simulations and experiments. Using the proposed method, accurate PTP positioning of the moving mass without residual vibration is obtained experimentally by modifying the proposed input preshaping method. It is also able to suppress initial vibration of the beam–mass–cart system carrying a concentrated mass. Finally, the proposed input preshaping method is applied to the system to follow square trajectories of the moving mass without residual vibration.