Optimal Model Reference Command Shaping for vibration reduction of Multibody-Multimode flexible systems: Initial Study.

  • Gerardo PeláezEmail author
  • Higinio Rubio
  • Estela Souto
  • Juan Carlos García-Prada
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


The present work develops an initial study of the Optimal Model Reference Command Shaping (MRCS) approach to effective vibration control of real world multibody-multimode flexible systems. The proposed MRCS is designed based on a multibody model, described by the corresponding Differential Algebraic Equations (DAEs), but avoids the need for estimation of the multibody system natural frequencies, extracted from the DAEs, as in the case of customary command shaping. Instead, a well know high order reference model is proposed to design the shaper. Then attempt that the shaper plus the multibody system output follows as close as possible the model reference output. An overhead crane hanging distributed multibody payloads has been chosen as showcase.


Multibody Double-pendulum overhead crane Multimode flexible system Open-Loop controller Vibration control 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Gerardo Peláez
    • 1
    Email author
  • Higinio Rubio
    • 2
  • Estela Souto
    • 2
  • Juan Carlos García-Prada
    • 2
  1. 1.University of VigoVigoSpain
  2. 2.Universidad Carlos III de Madrid, Departamento de Ingeniera MecnicaLeganésSpain

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