In order to solve the problems of low positioning accuracy and inaccurate position tracking in the feed system of CNC machine driven by the permanent magnet linear synchronous motor (PMLSM)

a robust simple adaptive control (RSAC) method based on the command generation tracker (CGT) is designed. Firstly

the PMLSM mathematical model is established

and the Stribeck effect under acceleration is introduced into the system modeling to improve the friction model. Secondly

the RSAC method that does not depend on the exact model is designed to overcome the uncertainty in the system

so as to improve the robustness. To overcome the difficulty in parameter selection in RSAC

a CGT with observable state variables is designed

which can adaptively adjust the parameters of RSAC and further improve the position tracking accuracy of the system. Finally

the friction disturbance is observed through the simulation and experiment

and the tracking performance and robustness of the system under a variety of position tracking signals are analyzed. The experimental results show that this method can effectively handle the system uncertainty

achieve the expected tracking error reduction

and meet the requirements of good tracking performance and strong robustness under precision machining conditions.