The problem of precise orientation of the equipment for grinding ball nose-end milling cutter based on PMAC is resolved by introducing a new idea which use the limit switch installed in the moving table in the development of controlling software and a satisfying effect has been acquired.

The former one is a limited sliding algorithm that is able to provide approximated optimal force by properly adjusting damper parameters, which is based on velocity negative feedback, and the latter one is a limited switching algorithm using the feedback of linear combination of system state.