Input shaping is a well-established technique used for reducing the vibratory response of dynamic systems. Analytical tools are available for systems utilizing input shaping. These tools aid in performance analysis by providing intuitive and computationally simple methods for determining key system attributes, such as the residual vibration in response to a command. This paper describes methods whereby arbitrary reference commands may be interpreted as input-shaped commands. This capability allows input shaping analysis tools to be used on systems without input shapers. Experimental results obtained from an industrial 10-ton bridge crane validate the theoretical developments. (c) 2008 Elsevier Ltd. All rights reserved.