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This study presents an adaptive fuzzy controller for linear X-Y table based on FPGA (Field Programmable Gate Array) technology. The linear X-Y table is driven by two PMLSMs (Permanent Magnet Linear Synchronous Motors). Firstly, a mathematic modeled for PMLSM drive is defined. Secondly, to increase the performance of the PMLSM drive system, an AFC (Adaptive Fuzzy Controller) constructed by a fuzzy basis function and a parameter adjustable mechanism is derived and applied to the position control loop of drive system in x-axis table and y-axis table to cope with the effect of the system dynamic uncertainty and external load. Thirdly, the overall AFC and other circuits for the motion controller of linear X-Y table are implemented by a single FPGA. Finally, an experimental system is set up to evaluate the performance of the controller system.