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A new structure of cross-coupling controller for precise tracking in motion control is proposed in this paper. When compared with the conventional cross-coupling system, this new structure has the advantage that the compensators in CCC have a simpler design process than conventional ones and so does its stability analysis. The proposed compensator (or controller) is evaluated and compared experimentally with a traditional uncoupled controller on a microcomputer controlled dual-axis positioning system. The experimental results show that the new structure of cross-coupling controller remarkably reduces contour error. In addition, this new controller can be implemented easily on a majority of motion systems in use today via reprogramming the reference position command subroutine. 

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This paper presents a new control design method for the control of flexible systems that not only guarantees closed-loop asymptotic stability but also effectively suppresses vibration. This method allows integrated determination of actuator/sensor locations and feedback gain via minimization of an energy criterion, which is chosen as the integrated total energy stored in the system. The energy criterion is determined via an efficient solution of the Lyapunov equation and minimized with a quasi-Newton or recursive quadratic programming algorithm. The prerequisite for this optimal design method is that the controlled system be asymptotically stable. This study shows that when the controller structure is a collocated direct velocity feedback design with positive definite feedback gain, the number and placement of actuators/sensors are the only factors needed to determine necessary and sufficient conditions for ensuring closed-loop asymptotic stability. The application of this method to a simple flexible structure confirms the direct relationship between our optimization criterion and effectiveness in vibration suppression.

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