Tracking Control for a PM Linear Actuator System

This contribution is about the tracking controller design for a permanent magnet synchronous linear actuator. In order to achieve a good tracking behavior as well as a good disturbance rejection for the physical plant we propose an approach based on Port-Hamiltonian systems and passivity-based control (PBC). A combination of feedforward and feedback con trol enhances the tracking behavior of closed loop. In addition the PBC is constructive and provides a Lyapunov function for the stability analysis. In fact the so-called fictive output does not coincide with the regulated output and one has to overcome some restrictions for trajectory planning problem. This approach avoids the solution of a boundary value problem and it takes care for some additional state limitations. The tracking controller design and the motion planning are shown for the mechatronic example together with some simulation results.