Iterative Learning Variable Structure Controller on Linear Motors for Point-To-Point Motion

In this paper an iterative learning variable structure controller is presented for the point-to-point motion and implemented on an X-Y positioning table driven by linear motors. The methods consist of an iterative learning controller for the high-speed motion and a sliding controller for the high-accuracy positioning. It contributes to making good use of the actuators to reduce the settling time in point-to-point motion. The comparison of experiments results between the proposed controller and the PD plus saturation controller shows the performance can be improved greatly