This article presents an unsophisticated method for tuning the amplitudes and time locations of a three-impulse sequence input shaper. The method helps to solve the insufficient constraint equations directly. A wide range of shapers can be obtained using the proposed method, including Zero Vibration (ZV), Zero Vibration Derivative (ZVD) and Extra Insensitive (EI) or Specified Insensitive (SI) shapers. The impulse amplitudes can be produced without additional derivative constraints or an initial penalty of residual vibration. It is also shown that a more robust input shaper can be obtained using the new algorithm. Experimental results from a step motor are used to support the numerical solutions.
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