A design method of an adaptive PI controller for a positioning mechanism with stand

We consider an adaptive PI controller for a positioning mechanism with stand. To control the position of a moving table with vibration suppression of the stand, derivation of the motion equation of the whole system and identification of the physical parameters are very important. However, in previous researches, conventional PI control methods have been applied to the positioning control and the design parameters depend heavily on the physical parameters of the controlled system. To cope with this problem, we apply the adaptive PI control strategy to that system and show the effectiveness of our method, compared to the conventional strategy