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Adaptive Integrated Contouring Control of Biaxial Systems

The integrated contouring controller, that includes feedback, zero phase error tracking controller(ZEPTC), and cross coupling controller (CCC), is considered in this study. A parameter adaptation algorithm (PAA) is employed to both ZPETC and CCC to form an adaptive integrated contouring controller. An optimal control gain for CCC is designed using the contour error transfer function. Simulations verify the analysis.