Robust Design of Nonlinear Mechatronic Systems, Experimental and Theoretical Results

This contribution deals with the robust design of a special class of nolinear systems, called mechatronic systems. This class can be described by the basic laws of mechanical and electrical engineering. Different from general nonlinear systems, one can take additional advantage of the rich structure of the presented mechatronic systems. E.g. the potentials or mixed potentials and the natural passivity of forces are used to prove that the presented control laws stabilize the systems. Furthermore, the theory of nonlinear control is used to design the actuators and the sensors such that they fit the design problem in an excellent way. Therefore, all presented control laws can be implemented in a straightforward manner, as demonstrated by our experimental results.