This paper presents the potential of the Model Reference Adaptive Control (MRAC) and Proportional-Integral (PI) controller in improving the tracking performance and transient response of XY Table Ball Screw Driven System. The technique used to design MRAC controller is based on Lyapunov approach that is taken to account the stability of the system. Simulation and experimental test are conducted with two different inputs namely step and sinusoidal to evaluate the performance of this technique. The tracking performance is evaluated based on maximum tracking error and root mean square error (RMSE). In addition, the transient response properties are also evaluated. The results of the comparison between these two techniques are compared and presented.
