Recently, servo presses driven by servo motors have become widely into use. In this research, we derive the optimal control inputs of the slide and die cushion and trajectory which fills the suitable index of formability and productivity using shock control. It aims to design the control system for securing the robustness for friction or a parameter error. The contact load of the slide and the die cushion, bottom dead point and its arrival time are used as the index. In derivation of the optimal control inputs and trajectory, we proposed method of applying final-state control by dividing from the collision of the slide and the die cushion until reaching the bottom dead point into two stages. In order to secure the robustness we propose the control system which changes control flexibility. By carrying out numerical simulations and experiments, it is verified that the control system has good performance.
