In this paper, a control system is designed that synchronizes the motions of biaxial positioning tables. The control system consists of nonlinear feedback laws of the displacements and the velocities of the table along its axes. It is proved that in the absence of parametric uncertainty and disturbances, the designed control system generates desired contours, for instance, contours with sharp corners, such as a heart-shaped contour (cardioid), on the workpiece, with zero error in finite time. Simulation results show that the designed control system compensates for the effects of parametric uncertainty and disturbances to the system.

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