Optimal Reference Shaping for Dynamical Systems: Theory and Applications - Presents the frequency domain approach for designing input-shaper/time-delay filter
- Illustrates the design of optimal command shapers through gradient-based and convex programming-based approaches
- Covers the minimax design of robust command shapers and state feedback controllers
- Discusses the control of vibratory systems that are subject to Coulomb friction
- Includes many examples problems that represent actual engineering systems
Optimal Reference Shaping for Dynamical Systems: Theory and Applications |

Matlab Code

- Example_21.m - Posicast and Robust Time-Delay Filter

- Example_22.m - Time-Delay Filters for Multi-Mode System

- Example_23.m - Jerk Limited Time-Delay Filters

- Example_24.m - Discrete-Time Time-Delay Filters

- vansim.m - Simulate linear systems subject to staircase input

- Example_31.m - Brachistochrone Curves

- Example_32.m - Minimum Power Control

- Example_33.m - Minimum Jerk Control

- Example_36.m - Linear Quadratic Regulator

- Example_37.m - Terminal Penalty, Minimum Power Control

- Example_38.m - Minimum Power Control

- Example_39.m - Robust Minimum Power Control

- Example_310.m - Floating Oscillator, Minimum Power Control

- Example_311.m - Robust Minimum Power Control (Floating Oscillator)

- Example_313.m - Minimum Time/Power Control

- Example_314.m - Frequency Shaped LQR

- Example_315.m - Covariance Characterization of LQR

- Example_71.m - Time-Optimal Control of Benchmark Problem

- Example_72.m - Time-Delay Filters for Single-Mode System

- Example_73.m - L_infty Norm based Minimax Time-Delay Filters for Single-Mode System

- Example_74.m - L_infty Norm based Minimax Time-Delay Filters for Benchmark Problem

- Example_75.m - L_1 Norm based Minimax Time-Delay Filters for Single-Mode System

- Example_76.m - L_1 Norm based Minimax Time-Delay Filters for Benchmark Problem

Pendulum Control

Step Input Response | Shaped Step Input Response | Arbitrary Input Response | Shaped Arbitrary Input Response |
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