Recent Results in Reference Prefiltering for Precision Motion Control

Controlling the variable length pendulum: Analysis and Lyapunov based design methods

“…1. An established technique in crane motion control is input shaping [2,3], see also [4] for optimal and [5] for robust design. The main idea of this method is to shape the trajectory of the cable suspension point by a time delay filter so that the payload sway is partly or fully pre-compensated.…”