In this paper an adaptive recursive filter with adjustable error smoothing coefficients is proposed.

本文提出了一种具有可调误差平滑系数的自适应递归滤波器。

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It is proven that the new controller can guarantee the perfect motion tracking. On the other hand, the force tracking error is bounded with the bound being adjustable.

证明了新的控制器一方面保证了运动的完全跟踪，另一方面保证了力跟踪误差是有界的且界的大小是可以调节的。

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The results show that its static error is mainly from the adjustment of the vertical axis of the adjustable support.

分析结果是，其静态误差主要来源于动架纵轴的调整。

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