Precision Motion Control Methodology for Complex Contours

  title={Precision Motion Control Methodology for Complex Contours},
  author={Haojiong Zhang and R. G. Landers},
  journal={2007 American Control Conference},
A general precision motion control methodology for complex contours is proposed in this paper. Each servomechanism dynamic model is divided into a linear portion and a portion containing nonlinear friction, unmodeled dynamics and unknown disturbances. A full state feedback controller, based on a state space error system model, is developed to track general reference trajectories. The lumped friction effects are described using the Tustin friction model. Unmodeled dynamics and disturbances are… CONTINUE READING


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