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Paper Title: Integral Input Shaper Designed with Impulse Vectors for Removing Residual Vibration

Author: Sang-Gyu Lee

This paper proposes an integral input shaper (IIS) that extends the impulse-vector representation from a finite discrete impulse sequence to a continuous integral form for suppressing residual vibration in second-order systems. The IIS provides a distinct robustness profile under natural-frequency mismatch and enables intuitive time-domain interpretation of shaped step, ramp, and periodic commands, with representative experiments showing qualitative trends consistent with simulation results.

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