Optimum synchronous control for multiple-axis servo systems in terms of time-varying performance index

This paper presents a synchronous control method for multiple-axis servo-systems aimed at the synchronization and cooperation of all axes. An optimum synchronous time-varying controller is presented in terms of a time-varying performance index and it is given by solving a time-varying Ricatti differential equation-given, where the position synchronization can be realized for the circular path and the combination path that consists of the straight-line path and the circular path. The control method proposed in this paper is applied to an X-Y table, which is a two-axis system. The proposed control method is demonstrated experimentally in a two-axis system to make the conventional independent control that is conducted separately, for each axis develop both the tracking precision for reference path and the reduction of system fluctuation for disturbance.