Adaptive feedforward Zero Phase Error Tracking Control for minimum phase and non-minimum phase systems - XY table real-time application

This paper presents the realization of Adaptive feed-forward Zero Phase Error Tracking Control (ZPETC) for real-time XY table application. A minimum and non-minimum phase mathematical models were obtained from input-output experimental data using different sampling times to represent the true plant of XY table via Matlab system identification toolbox. These two models were used to test the effectiveness of designed controller. In this paper, ZPETC without factorization of zero polynomials 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 contour error was used as indicator for effective tracking performance. Real-time application results show that the designed controller can effectively enhance the tracking performance of the system and provide superior two dimensional contour plots for the XY table.