In this thesis , the closed - loop input shaping is the focus . we would discuss how to design input shaper combining the pd control and stating feedback control . because the input shaping delay the input , and we would discuss the stability of the closed - loop input shaping system 近期對輸入成型的研究主要集中在開環(huán)情形,本文將重點(diǎn)研究系統(tǒng)的閉環(huán)輸入成型控制,將輸入成型技術(shù)結(jié)合pd (比例微分)控制、 lqg最優(yōu)控制這些反饋控制技術(shù),完成前饋與反饋的互補(bǔ)。