Biaxial contouring control using H pole placement design

Mi Ching Tsai, Hung Shaing Chuang, Ming Yih Lee

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper presents an H pole placement method, under a weighted mixed sensitivity problem, to design robust axis controllers in which the selection of weighting functions is investigated according to the relaxed performance measure. The objective is to independently design motion controllers using the notion of relaxed performance measure to reduce the dynamic contouring error, i.e., the cross-the-path error, in multiaxis servomechanisms. Experimental results from a biaxial servomechanism show that the H pole-placement method for axis controller design can effectively reduce contouring error by matching axis delay times and hence achieve good contouring accuracy.

Original languageEnglish
Pages (from-to)413-420
Number of pages8
JournalJSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing
Issue number3
Publication statusPublished - 1998 Sep 1

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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