• L. Abdullah
  • S.C.K. Junoh
  • S.N.S. Salim
  • Z. Jamaludin
  • T.H. Chiew
  • N.A. Anang
  • Z. Retas
  • M.H. Nordin London Southbank University, 103 Borough Road, London SE1 00A, United Kingdom.


Accuracy and precision are the area of interest in machine tools application. It is evaluated via the measurement of tracking performance of the controllers. This study presents a Fast Fourier Transform (FFT) technique that used to evaluate the tracking performance of two controllers, namely NPID Triple Hyperbolic controller and NPID Double Hyperbolic controller for XY Table Ball-screw driven system. The cutting force characteristics are observed by using a FFT technique. Peak amplitude of FFT error on harmonic frequency was observed as a cutting force occurrence on the control system. Two cutting force disturbances that are generated from spindle speed of 1500 rpm and 2500 rpm at frequency of 0.2 Hz of speed of motor were used as a configuration set up to compare the tracking performance between the two controllers. The average error reduction of FFT error at cutting force of 1500 rpm between NPID Double Hyperbolic and NPID Triple Hyperbolic was 25.12%. This average error reduction result showed that the NPID Double Hyperbolic controller produced better tracking performance compared to the other controller. For future work, it is recommended to explore the superiority features offered in artificial intelligence tool box for better judgment in tuning control parameters.


Download data is not yet available.


T. Yamazaki, “Development of A Hybrid Multi-tasking Machine Tool: Integration of Additive Manufacturing Technology with CNC Machining,” in 18th CIRP Conference on Electro Physical and Chemical Machining, Ito International Research Center Conference, The University of Tokyo, Japan, 2016, pp. 81–86.

C. C. Hong, C.-L. Chang, and C.-Y. Lin, “Static Structural Analysis of Great Five-Axis Turning–Milling Complex CNC Machine”, Engineering Science and Technology, an International Journal, vol. 19, no. 4, pp. 1971–1984, 2016.

Z. Sang and X. Xu, “The Framework of a Cloud-Based CNC System,” in 50th CIRP Conference on Manufacturing Systems, Taichung City HallTaichung, Taiwan, 2017, pp. 82–88.

Z. Jamaludin, J. Jamaludin, T. H. Chiew, L. Abdullah, N. A. Rafan, and M. Maharof, “Sustainable Cutting Process for Milling Operation using Disturbance Observer,” in 13th Global Conference on Sustainable Manufacturing, Binh Du'o'ng New City, Vietnam, 2016, pp. 486–491.

A. E. Cetin, M. Arif Adli, D. E. Barkana, and H. Kucuk, “Adaptive On-Line Parameter Identification of a Steer-by-Wire System”, Mechatronics, vol. 22, no. 2, pp. 152–166, 2012.

C. Kharrat, E. Colinet, and A. Besancon-Voda, “A robust control method for electrostatic microbeam dynamic shaping with capacitive detection,” in 17th World Congress, International Federation of Automatic Control, Seoul, South Korea, 2008, pp. 568-573.

V. I. Utkin, H.-C. Chang, and A. Keyhani, “Sliding mode control for automobile air conditioner,” in 15th World Congress of the International Federation of Automatic Control, Barcelona, Spain, 2002, pp. 421-425.

N. C. Tsai, L. W. Shih, and R. M. Lee, “Counterbalance of cutting force for advanced milling operations”, Mechanical Systems and Signal Processing, vol. 24, no. 4, pp. 1191–1208, 2010.

W. Chen, K. Kong, and M. Tomizuka, “Dual-stage adaptive friction compensation for precise load side position tracking of indirect drive mechanisms”, IEEE Transactions on Control Systems Technology, vol. 23, no. 1, pp. 164–175, 2015.

W. Lee, C. Y. Lee, Y. H. Jeong, and B. K. Min, “Friction compensation controller for load varying machine tool feed drive”, International Journal of Machine Tools and Manufacture, vol. 96, no. 1, pp. 47–54, 2015.

D. J. Gordon and K. Erkorkmaz, “Accurate control of ball screw drives using pole-placement vibration damping and a novel trajectory prefilter”, Precision Engineering, vol. 37, no. 2, pp. 308–322, 2013.

C. J. Lin and P. T. Lin, “Particle swarm optimization based feedforward controller for a XY PZT positioning stage”, Mechatronics, vol. 22, no. 5, pp. 614–628, 2012.

K. K. Tan, S. N. Huang, and T. H. Lee, “Geometrical error compensation and control of an XY table using neural networks”, Control Engineering Practice, vol. 14, no. 1, pp. 59–69, 2006.

H. Seraji, “A New Class of Nonlinear PID Controllers for Robotic Applications”, Journal of Robotic Systems, vol. 15, no. 3, pp. 161–181, 1998.

A. Maddi, A. Guessoum, and D. Berkani, “Design of nonlinear PID controllers based on hyper-stability criteria,” in 15th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering, Hammamet, Tunisia, 2014, pp. 736–741.

R. Garrido and A. Soria, “Control of a servomechanism using non-linear damping”, Journal of Systems and Control Engineering, vol. 219, no. 4, pp. 295–299, 2005.

M. R. Ristanovic, D. V Lazic, and I. Indin, “Nonlinear PID controller modification of the electromechanical actuator system for aerofin control with a PWM controlled DC motor”, Automatic Control and Robotics, vol. 7, no. 1, pp. 131-139, 2008.

J. Q. Liu and W. Wang, “Nonlinear immune PID controller and its application to the heat milling system’s material-level control,” in International Conference on Manufacturing Science and Technology, Singapore, 2012, pp. 743–749.

M. F. Rahmat, S. N. S. Salim, N. H. Sunar, A. A. M. Faudzi, Z. Hilmi, and I. K. Huda “Identification and non-linear control strategy for industrial pneumatic actuator”, International Journal of Physical Sciences, vol. 7, no. 17, pp. 2565–2579, 2012.

L. Agnoletti, S. Kaster, and S. Augusto, “Applying a nonlinear PID in a single- phase PLL control,” in IEEE International Conference on Power Electronics, Drives and Energy Systems, PEDES 2012, Bengaluru, Karnataka, India, 2012, pp. 3–6.

S. C. K. Junoh, S. N. S. Salim, L. Abdullah, N. A. Anang, T. H. Chiew, and Z. Retas, “Nonlinear PID triple hyperbolic controller design for XY table ball-screw drive system”, International Journal of Mechanical and Mechatronics Engineering, vol. 17, no. 3, pp. 1-10, 2017.

L. Abdullah, Z. Jamaludin, T. H. Chiew, and N. A. Rafan, “Systematic method for cutting forces characterization for XY milling table ballscrew drive system”, International Journal of Mechanical and Mechatronics Engineering, vol. 12, no. 6, pp. 28-33, 2012.

How to Cite
Abdullah, L., Junoh, S., Salim, S., Jamaludin, Z., Chiew, T., Anang, N., Retas, Z., & Nordin, M. (1). EVALUATION ON TRACKING PERFORMANCE OF NPID TRIPLE HYPERBOLIC AND NPID DOUBLE HYPERBOLIC CONTROLLER BASED ON FAST FOURIER TRANSFORM (FFT) FOR MACHINE TOOLS. Journal of Advanced Manufacturing Technology (JAMT), 12(1(4), 25-38. Retrieved from https://jamt.utem.edu.my/jamt/article/view/4895