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ABSTRACT
This paper considers the use. of an adaptive feedforward controller for a positioning system with a progressive wave type ultrasonic motor. The parameters of the feedforward controller are adjusted by an adaptation algorithm, the objective of which is to make the feedforward controller a mathematical inverse of the motor. The error between the desired output and actual output is used as the adaptation error signal as well as the input to the nonadaptive feedback controller. After the adaptive process is completed, the input to the motor is no longer supplied by the feedback controller but by the feedforward controller. The stability of the proposed adaptive control system is analyzed and its effectiveness is tested by experiments.