Abstract: A new technique is proposed for deriving robust time delay filter using zero-placement in the discrete domain to reduce residual vibration in the uncertain system. Unlike previous derivation, this method places some zeros around the system poles and leads to construct discrete transfer function to meet requirements on filter performance. This derivation is verified with anti-sway control of cranes.

Key words: Cranes, Residual vibration, Time delay filter, Zero-placement, A single abrasive grinding, Grinding force, Gringding scratch morphology, Matching performance, Ultrasonic assisted grinding