Adaptive Input Shaper Design for Unknown Second-Order Systems with Real-Time Parameter Estimation

We propose a feedforward input-shaping framework with online parameter estimation for unknown second-order systems. The proposed approach eliminates the need for prior knowledge of system parameters when designing input shaping for precise switching times by incorporating online estimation for a black-box system. The adaptive input shaping scheme accounts for the system’s periodic switching behavior and enables reference shaping even when initial switching instants are missed. The proposed framework is evaluated in simulation and is intended for vibration suppression in motion control applications such as gantry cranes and 3D printer headers.