Modeling and Output Feedback Control Design of a CoreXY System

This paper presents the modeling and feedback control design methods of a CoreXY system platform. The proposed design method includes derivation of both kinematics and dynamics models of the platform using geometric and Euler- Lagrange equation analyses. The linear quadratic Gaus-sian (LQG) control method is then constructed based on the estimation of the system's state variables that are obtained using Kalman filter algorithm. Bryson's rule is used to tune the LQG control parameters to achieve the desired performance of the closed loop output feedback control systems. Simulation results are presented to illustrate the effectiveness of the proposed output feedback control system to control the CoreXY's end frame from an initial position coordinate to a desired final position.