Research Article Open Access

Morphing Mechanisms Part 2: Using Repetitive Control to Morph Cam Follower Motion

Nonglak Phetkong1, Meng-Sang Chew2 and Richard W. Longman3
  • 1 The National Metal and Materials Technology, Center (MTEC), Patumthani, Thailand
  • 2 Dempartment of Mechanical Engineering, Lehigh University, Bethlehem, United States
  • 3 Department of Mechanical Engineering, Columbia University New York, New York 10027, United States


This research utilizes the repetitive control approach in morphing a high-speed cam mechanism so that its output displacement tracks the desired output trajectory. The main objective is to reduce the output tracking error, which is the difference between the actual and desired output displacements of the output mass. A 3-degree of freedom mathematical model is used to analyze and represent the cam follower system. The output tracking error in cam follower systems is generally caused by errors in cam profile manufacturing, variation in the speed of the driving motor and the dynamics of the cam follower system. Theoretical and experimental results show that the output tracking error is greatly reduced after repetitive control has been applied to the system. As a result, the actual output displacement tracks the desired output displacement very closely.

American Journal of Applied Sciences
Volume 2 No. 5, 2005, 904-909


Submitted On: 29 January 2005 Published On: 31 May 2005

How to Cite: Phetkong, N., Chew, M. & Longman, R. W. (2005). Morphing Mechanisms Part 2: Using Repetitive Control to Morph Cam Follower Motion. American Journal of Applied Sciences, 2(5), 904-909.

  • 5 Citations



  • Modern Control
  • Nonlinear Cam Follower
  • Tracking Error Reduction
  • Vibration in Cam Mechanisms