Comprehensive modeling for simulation and control of a single axis high precision positioning system

In this paper, a high precision positioning system identification is studied and analyzed to obtain a suitable model for simulation and control. The selected model must capture most of system dynamics. Second order system model with one pole at the origin proves to be a good selection. System´s friction nonlinearity is considered as well; Both LuGre and Stick-Slip friction models were simulated and tested experimentally. The later proves to be more accurate. Computer simulation and experimenting with the high precision positioning system verify that the obtained model is reliable and can be used in control application.