Abstract: According to the strong nonlinearity and lag of the cable feed system, a discrete model, consisting of a jointed
spring-damping system, is proposed. The cable stiffness, internal damping, joint friction, gravity and wind disturbance are
included in this model in order to give an accurate description of the cable, on the basis of which the mathematical
representation of a cable feed mechanism and a controller is developed, and a series of simulation is carried out with the
4th order Runge Kutta method. Results show the effectiveness of this model and controller.

Key words: cable system, dynamic modeling, tracking control