Summary of recent results on design and application of signal shapers

This article provides summary of our previous work and applications of delay based signal shapers, which are widely used for vibration control of light weight flexible structure, like robotics manipulators, cranes, or another application in vibration control. Next to the analysis and application of classical signal shapers with lumped delays, completely original shapers with distributed delays are proposed.  The shaper design methods are first demonstrated on a case study of flexible airplane, performed in the framework of the 7FP EU project ACFA2020 \footnote{www.acfa2020.eu}. Feed-forward shapers compensator are used as smart filter of pilot commands as an alternative to classical Butterworth or Chebyshev filters. Further applications of signal shapers are shown on laboratory experiments portal crane and a servo with a flexible link.