殘留振動的存在，影響了撓性機件運動之精密定位，增加了達成工作目標所需要的時間；而輸入修正法，提供了一個有效且快速的減振方法。傳統的輸入修正法，大多應用於單自由度或低自由度之線性結構系統；而於本文中，我們進一步拓展了輸入修正法的應用，包括：結構系統之自由度、系統動態之線性度以及與其他系統之整合性。於結構系統之自由度的拓展方面，我們以實驗驗證與FEM模擬分析，證實了線性輸入修正法(ZV與ZVD shapers)皆能有效地抑制線性連續系統之殘留振動；其中ZVD shaper對系統參數不確定性具有較佳的強健性。同時亦發現FEM模擬分析與實驗結果具有不錯的相關性，未來可以直接採用FEM模擬分析的方式，設計並測試新的輸入修正波形。在系統動態之線性度的拓展方面，我們於相空間下，分別以機械能守恆與力平衡的觀點來分析非線性系統，發展了非線性輸入修正法：二步與三步輸入；藉由模擬分析與實驗驗證得知，非線性輸入修正能有效抑制具Duffing非線性與電磁力非線性之系統的殘留振動，其中三步輸入具有較佳的強健性；對於二步輸入之強健性較不足，我們採用線上調整方法，來改善其性能表現，提供了我們更實用的方式。而於系統之非線性效應可忽略下，二步輸入與三步輸入之強健性表現將個別趨近於ZV shaper與ZVD shaper，可知所發展之非線性輸入修正方法，兼具了線性與非線性輸入修正之設計。於與其他系統之整合性的拓展，我們將非線性輸入修正結合控制系統，模擬結果顯示輸入修正有效地縮短安定時間；而控制器的加入，有助於抵抗雜訊干擾，改善穩態誤差，因而增加了強健性，達到精密定位的目的。

　　Input shaping is an effective method for suppressing the vibration of structures where passive damping cannot be incorporated. However, although the traditional linear input shaping techniques, such as zero vibration (ZV) and zero vibration and derivative (ZVD), which utilize destructive interference, work well for discrete systems, the effectiveness of those linear shapers is not clear for continuous structural systems. In addition, for strongly nonlinear system, the principle of superposition, the fundamental design basis of linear shapers, is no longer applicable and a new design methodology for input shapers should be explored. In this thesis, the above two issues are discussed and a new methodology for designing nonlinear shapers for suppressing vibration of nonlinear dynamical systems is also proposed and developed. For continuous systems, the governing equation of a cantilever beam is derived. Mathematical expressions of characterizing the performances of existing discrete type ZV and ZVD shapers can also be derived from this continuous formulation. Meanwhile, a piezoelectric driven steel beam experiment is designed to examine the effectiveness of both shapers. In parallel, a finite element dynamics model is also constructed to simulate the behavior of the beam subjected to the shaped input for future shaper design for complicated continuous structures. The experimental and computer simulation results agree with each other to a large extent, and indicate that when properly designed, both ZV and ZVD shaper could effectively reduce the residual vibration of flexural structures. For nonlinear systems, a general input shaper design methodology for single-degree-of-freedom systems with both Duffing spring and electromagnetic forcing nonlinearities is successfully devised using an energy approach. Following this approach, two-step and three-step shapers are developed, which in the linear limit reduce to the traditional ZV and ZVD shapers respectively. The robustness of these nonlinear shapers is investigated numerically through several case studies. Meanwhile, an electromagnetically driven Duffing mechanical system is also constructed so that the performances of the nonlinear shapers in vibration suppression can be examined. It is shown that the nonlinear shapers result in a significant improvement in residual vibration suppression and settling time reduction in comparison with the traditional linearlized ZV and ZVD shapers. Finally, in order to withstand the steady state disturbance, the incorporation of nonlinear shaper with feedback control is investigated and the computer simulation results indicate that this approach should be able to achieve a shorter settling time than using pure feedback control and a better steady state disturbance rejection than using pure command shaping techniques.

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