Input shaping technique is used to improve the performance of many flexible systems. Employing specified train of impulses convolved with a reference command can effectively reduce residual vibrations. Zero vibration, zero vibration derivative and specified insensitive or extra insensitive, and zero vibration derivative - derivative shapers are well-known types of input shapers. These shapers improve the robustness of the system with respect to modelling errors. In this article, a coherent input shaping scheme with all positive three-impulse sequences is developed, which is preferable to derivative shaper types. The proposed method is used for damping the tubular step motor vibrations. The method allows generating the impulse amplitudes without additional derivative constraints. The technique is also evaluated by analysing the robustness. Experimental results show the efficiency of the proposed method.