... of the system given in Eq. (3) based on Lyapunov theorem. Command shaping, a commonly used input shaping technique, is an open-loop control technique that is designed to induce minimal transient (when the container is in motion) and residual (when the container is stopped) liquid oscillations. An input...

... of researchers in the past and two strategies have been followed: either implementing a closed-loop control scheme, in which the state of the dynamic system has to be known during the motion (and therefore apposite sensors have to be adopted) or an open-loop control scheme which relies on an appropriate motion...