输入整形技术通过一种开环输入调制方法来抑制系统的残留振荡，因而在高精度快速定位系统中得到了广泛应用。
Input shaping technique suppresses residual vibration through a open-looped input modulate method, therefore used widely in the high-accuracy fast navigation systems.
输入整形技术采用频域的零点配置方法设计多峰鲁棒输入整形器用来进一步减小负载的瞬时振荡，保障安全作业；
The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero placement method in the frequency domain to design multi-hump robust input shapers.
实验结果表明：采用输入指令整形减振技术和压电陶瓷相结合的抑振策略，系统稳定时间缩短80%以上，双重驱动的抑振策略实现了高速高精度的运动控制。
Experiments validate that the stabilizing time is reduced by 80%. The dual drive strategy is an excellent way to realize high speed, high precision motion control.
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