Robust motion control of electromagnetic actuators using H∞ optimization

Motion control is a key issue for the effective application of compact high performance electromagnetic actuators. Using H
_infin
optimization a robust controller for an inherently unstable plant is synthesized. Modeling of the novel actuator system and detailed design of an H
_infin
controller for trajectory tracking are presented. Simulation results are compared with measured data. Experiments show the effectiveness of the proposed controller for improving the performance and extending the application range of the actuator system.