Abstract: One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system among others, can be broadly summarized by as follows. A control entity generates a desired motion command for a physical system. A command generator then produces a shaped-smooth reference command for the physical system from the desired motion command that will cause the physical system to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.

Abstract: One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system among others, can be broadly summarized by as follows. A control entity generates a desired motion command for a physical system. A command generator then produces a shaped-smooth reference command for the physical system from the desired motion command that will cause the physical system to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.

Abstract: Method and apparatus for minimizing unwanted dynamics in a physical system response. Constraints on the input and on the unwanted dynamics are established, and an impulse sequence which satisfies the constraints is determined. The impulse sequence is convolved with an arbitrary command input to produce a shaped input which is used to drive physical system, thereby minimizing unwanted dynamics. The constraints on the input and on the unwanted dynamics may be selected to achieve shaped inputs and residual unwanted dynamics of various characteristics.