Abstract
In accurate and fast positioning application such as IC packaging, conventional PID or lead-lag compensator algorithm lacks robustness in providing good and consistent performance. Due to machine and driver non-linearities the controller often suffers from de-tuning as a result of variations in system parameters. This paper presents an account of employing dual-rate self-tuning control on a brushless servo driver for a high performance tracking manipulator to overcome the problem mentioned above. Recursive Instrumental Variable Estimation (RIVE) is used for on-line estimation. The self-tuning controller includes a PID Controller with inertia and friction compensation for optimal tracking performance.