Abstract: The residual vibration of a multi-mode system can be greatly reduced by a multi-mode input shaper, and the delay in system response time can be shortened by time optimization. Two time-optimal multi-mode input shapers with negative impulse are described: one involves partial sum and the other involves unity-magnitude. The two-mode negative impulse input shapers involving both partial sum and unity-magnitude of a 3-DOF flexible manipulator were framed. The numerical simulation results showed that these two kinds of input shapers are able to not only shorten the delay in system response time but also reduce the residual vibration of the system efficiently, thus suppressing the vibration of the system.