Robust trajectory tracking controller for XY table

This paper proposed a robust controller that can control non-minimum phase servo systems at high speed frequency. Feedforward adaptive Zero Phase Error Tracking Control (ZPETC) with model reference is applied. This technique can expand the bandwidth for high frequency closed to unity gain. Two non-minimum phase systems with different location of zero are considered in this paper. The systems are a difficult system which posses an unstable zero very near to the critical point and an unstable system that have a zero far from the unity. The system models are obtained via system identification technique using Matlab Toolbox by varying the sampling time. The performance of the controller in reducing the tracking error using high frequency input is analyzed through simulation. The proposed controller shows tremendous tracking performance.