INPUT SHAPER FOR NON-LINEAR ACTUATORS AND INPUT SHAPING METHOD THEREOF

摘要

PURPOSE: An input molding device and method thereof are provided to efficiently reduce the residual oscillation of a system using a nonlinear driver based on nonlinear response characteristic. CONSTITUTION: A pulse generator(220) generates pulses based on the nonlinear response characteristic of a nonlinear driver(300). A combiner(210) transfers pulses to the nonlinear driver in addition to an inputted control signal. The pulse generator generates pulses at a point based on the nonlinear response characteristic. The generation point of the pulses is the vector sum of the nonlinear response characteristic.