Input shaping performance deteriorates when the knowledge of the mode parameters is not accurate. Several robust input shapers were proposed at the expense of longer move time. A novel input shaping system, using backstepping and variable structure controllers to match the closed-loop system with a known reference model, is presented. The simple ZV input shaper can then be designed from the mode parameters of the reference model. Advantages over the existing robust input shapers include substantially larger amount of uncertainty in the mode parameters can be tolerated, substantially shorter move time that does not increase with insensitivity, application to nonlinear systems, and disturbance-induced vibration suppression.