Design of integer and fractional order controllers for cross-coupled contour motion systems

Contour motion control is one of the important topics in motion control research, which has been widely applied in motion control tasks in manufacturing and other automation systems. Much effort, such as cross-coupled control (CCC), has recently focused on improving contouring accuracy. Also, it is remarkable to see the increasing number of studies related to the theory and application of fractional order controller (FOC), especially PI^lambdaD^mu controller, in many areas of science and engineering. In this paper, a new ITAE criteria optimal design method of integer order PID and fractional order PID controller is proposed for cross-coupled contour motion system which is based on contour error estimation algorithm and contouring error transfer function (CETF). Simulation results show that the proposed algorithms are effective, and fair comparisons illustrate that fractional order controller can achieve better performance than integer order controller.