Robust output tracking control of a linear DC brushless motor for transportation in manufacturing system

Robust output tracking control of a linear DC brushless motor for transport ation within a manufacturing; system is presented. System identification fo r a linear motor with a driver is performed by a dynamic signal analyser, t hus providing a linearised model for the motor. According to the selected n ominal parameters, an optimal solution with a prescribed degree of stabilit y is obtained. Due to identification procedures and possible payload variat ions, parameter uncertainties exist. Thus an auxiliary input. connected to the nominal optimal control is introduced to guarantee robustness for the o utput tracking control problem. A computer simulation and experimental impl ementation are completed and compared. These results demonstrate the effect iveness of the proposed scheme for output tracking control of the linear DC brushless motor, and also confirm the feasibility of its implementation in industrial applications.