Experimental and Theoretical Results in Output-Trajectory Redesign for Flexible Structures

In this paper we study the optimal redesign of output trajectories for linear invertible systems. This is particularly important for tracking control of flexible structures because the input-state trajectories, that achieve tracking of the required output, may cause excessive vibrations in the structure. Therefore, a trade-off is required between tracking and vibration reduction. We pose and solve this problem, in the context of linear systems, as the minimization of a quadratic cost function. The theory is developed and applied to the output tracking of a flexible structure and experimental results are presented.