ABSTRACT
In the last chapter, a model-free proportional derivative (PD)–typed synchronization controller was introduced to synchronize motions of multiple motion axes. Although it is relatively easy to implement, the PD-type control must fulfill numerous conditions in order to asymptotically stabilize the system. These conditions regard to motion task selection (e.g., it must be setpoint motion or trajectory tracking with zero velocity at the end), synchronization constraint (e.g., the coupling parameters must be constant), and specific requirements for control gain tuning.
