Discrete Shaper of Control Signals

Method of control signal shaping has been being used in the steering systems with flexible elements since the 1990s. Many useful applications were developed during the next 20 years, primarily in the field of the positioning control systems. Most of the applications were from the area of control systems in machinery industry (cranes, fast-speed lifts, positioning systems, etc.), many of published papers are based on the design of a proper sequence of pulses in the time domain. On the contrary, our approach describes the design of the discrete shaper in the image area and is focused on the digital implementation issues.