Abstract: The extraneous force (or torque) is not only related to velocity but also related to accelerator. These two quantities are both introduced as the feedforward reference to eliminate extraneous force. Furthermore, the position synchronizing method studied and then a speed synchronizing schema suggested based on actuator control variable. Subsequently a hybrid control method is put forward, in which feedforward and speed feedback technology is adopted, which are benefit for the quick response and system steady. The simulation and experiments prove that this schema results in a quick response, robustness, and excellent ability against disturbance.

Key words: Synchronizing control Extraneous force, Load simulator, design thinking, fuzzy front end, Innovative Ideas, Multi-method Integration