Abstract: In order to realize steady transition between the modes in intelligent control, a new penalty function is found combined with a kind of multi-mode divided method, and a multi-mode steady transition strategy is proposed based on the penalty function. Different from the usual way that each control strategy in view of each mode, different control strategies are promoted to all modes in the multi-mode steady transition strategy, the control quantity is the sum of all control strategies by weight, the function of the penalty function is made the weight of corresponding control strategy bigger, and that of other control strategies is punished in this mode. Finally, the steady transition strategy is confirmed by the experiment on the nano precision drive parts which have large feeding force.

Key words: Construct, Steady transition, Intelligent control, Penalty function