Abstract
A generalized composite nonlinear feedback (CNF) control technique will be presented to track non-step references. A reference generator will be adopted to supplement the CNF control technique so as to track the non-step references. The reference generator can be designed to produce a desired reference. The generalized CNF control law comprises the reference generator and a modified enhanced CNF control law. The proposed method will be applied to design control laws for an XY-table. Simulation and implementation results will verify that the generalized CNF control law is indeed capable of tracking the non-step references.
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