ABSTRACT
This chapter describes five types of command smoother. The one-piece smoother, two-pieces smoother, three-pieces smoother, four-pieces smoother, and smoother for multimode Duffing oscillators are time-optimal solutions resulting from various vibrational constraints, and are robust to modeling errors in the frequency. The presented smoothers can suppress vibrations of an infinite number of modes in flexible structures. The higher-order derivative smoother has also been investigated. While taking additional derivatives will extend the insensitivity, it incurs a rise-time penalty.
