Design method of an adaptive PI controller for a positioning mechanism with stand

In this paper, we show an adaptive PI controller for a positioning mechanism with stand. To control the position of a moving table with suppressing a vibration of the stand, getting the motion equation of the whole equipments and identifying the physical parameters are very important. However previous researches, conventional PI control method have been applied to the positioning control and the design parameters depend heavily on the physical parameters of the controlled system. To cope with this problem, we apply the adaptive PI control strategy to that system and show the effectiveness of our method, compared to the conventional strategy.