Internal Model Control Scheme for Sensorless Force Control and Its Application to Rubbing Machines

In many industrial factories, usually, grinding, lapping, and polishing machines use force sensors for finishing tasks. In this paper, a modified internal model control (IMC) scheme for a sensorless force control is proposed to such kind of rubbing machines. The IMC has disturbance decoupling property, good tracking performance and disturbance estimation property. In order to extend the conventional IMC scheme to a rubbing machine, we consider a novel control scheme based on the IMC, and discuss stability of the closed loop system. Moreover, effectiveness of the proposed scheme is confirmed by comparative experiments