Tracking Error Reduction Using Model-Based Input Shaping

This paper presents a novel approach to reducing tracking errors using a model-based input shaping algorithm. The proposed method features a specialized pre-filter design that shapes the input to ensure zero steady-state tracking error for higher order polynomial inputs. Unlike conventional methods that may compromise system stability, this algorithm exclusively modifies the input signal, leaving the inherent system stability unaffected. An additional advantage of our approach is the simplification of the main controller design by taking over the handling of steady-state errors. This allows the controller to focus on other performance criteria (BW, GM, PM) without being overly complex. By making the system behave as if it were a higher order “System Type” without the need for multiple pure integrators in the open loop, our method enhances performance and robustness. The algorithm's potential applicability spans a wide range of fields, including robotics, aerospace, and industrial automation, demonstrating its versatility and effectiveness in improving control system precision and reliability.