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Vol. 17, Special Issue, December 2012, pp. 217-225


Selected papers from the 4th International Conference on Intelligent & Advanced Systems (ICIAS' 2012),

12-14 June 2012, Malaysia, Kuala Lumpur




Optimal Feedforward Zero Phase Error Tracking Control for High Precision X-Y Table

1 Hashimah ISMAIL, 2 Norlela ISHAK, 2 Mazidah TAJJUDIN, 2 Mohd Hezri FAZALUL RAHIMAN, 2 Ramli ADNAN

1 Faculty of Engineering, Universiti Selangor,

Bestari Jaya, 45600, Selangor, Malaysia

2 Faculty of Electrical Engineering, Universiti Teknologi MARA (UiTM)

Shah Alam, Selangor, Malaysia

E-mail: hashimah@unisel.edu.my, ramli324@salam.uitm.edu.my


Received: 29 September 2012   /Accepted: 29 October 2012   /Published: 18 December 2012

Digital Sensors and Sensor Sysstems


Abstract: Tracking control is important for precise operations in manufacturing field. To achieve good performance for high speed XY table movements, adaptive feedforward using Zero Phase Error Tracking Control (ZPETC) is proposed. This technique uses ZPETC without factorization of zeroes. In this paper, the feedforward controller is improved by introducing Model Reference into the system. The reference model tells how the process output ideally should respond to the command signal. The system transfer functions of X and Y axis are obtained via system identification technique using Matlab Toolbox. The performance of the controller in reducing the tracking error using high frequency input is analyzed through simulation. The system is also tested by implementing the adaptive controller without model reference for benchmarking purposes. Both controller performances are compared and the result shows tremendous superior tracking performance.


Keywords: Position tracking, XY table, System identification, Feedforward ZPETC



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