Real-time adaptive feedforward Zero Phase Error Tracking Control for X-Y motion

Abstract

The Zero Phase Error Tracking Control (ZPETC) has been widely used in motion control as it provides desirable performance. Due to its limitation in gain response, many researchers have modified and improve the technique to achieve unity gain for wider bandwidth. This paper discusses the implementation of feedforward adaptive ZPETC for real-time X-Y motion control. In this system, ZPETC without factorization of zero is utilized and the gain compensation filter is replaced by Finite Impulse Response (FIR) filter. The gain adaptation mechanism is done using Recursive Least Square (RLS) algorithm. The performance of designed controller in reducing the tracking error using high frequency input is analyzed through gain-frequency responses plot. Experimental results show promising tracking performance.