To derive mathematical model, dynamic characteristic equations are obtained and the pulse amplitude and time of input shaper was calculated.
通过建立系统的数学模型，求出了动态特性方程，计算出这三种输入整形器脉冲序列的幅值和时间。
Finally, EI input shaper is designed for the closed loop system whose frequency and damp has uncertain characteristic to reduce the vibration.
最后针对该系统由于非线性环节的引入导致的闭环频率和阻尼不确定的特点，设计了鲁棒ei输入成型器来抑制挠性结构的振动。
A closed-loop input shaping control scheme, which combines an input shaper with a vibration damper, is proposed for suppressing the residual oscillations of the multi-mode flexible systems.
提出一种闭环输入整形控制方案，它结合了具有振动阻尼器的输入整形器，用于抑制残留的多模式的灵活的系统振荡。
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