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Self-tuning controller design for motion control systems

In this paper, details of the modeling and identification for motion control systems are given. In particular, a mechanism is proposed to deal with the low-excitation problem in the closed-loop identification. A self-tuning feedback controller based on the pole placement and stable zero-pole cancelation is proposed. Besides, to improve the tracking performance, a self-tuning ZPETC is utilized as the feedforward. At last, all these algorithms are verified in a real milling machine. Experiments results indicate their efficiency.