Discrete Time-Varying Internal Model-Based Control of a Novel Parallel Kinematics Multi-Axis Servo Gantry

This paper presents an internal model-based approach for trajectory tracking in the discrete time-varying setting. A newly designed parallel kinematics servo gantry is well suited for high precision contouring at high speed ranges. The discrete time-varying internal model-based control is developed for controlling the servo gantry system to track complicated trajectories generated by linear time-varying systems. Based on a novel parallel time-varying internal model structure, a low order robust discrete time-varying stabilizer is synthesized. The proposed tracking control architecture is deployed on the novel parallel kinematics servo gantry system to achieve high precision contour tracking performance for frequency-varying signals generated by high order time-varying autonomous system.