Positioning-Tracking Controller Design of A Linear Motion Control System Based on Vectorization Technique

This paper addresses the positioning-tracking control problem for a second-order direct-drive linear-switched reluctance machine (LSRM) motion control system based on the vectorization technique. In order to overcome the system-matrix dimension oversize problem caused by vectorization method, the H-representation technique is adopted to reduce the closed-loop system-matrix dimension. The stability conditions with lower computational complexity for the LSRM motion control system are obtained based on Lyapunov stability theory and the vectorization technique. The positioning-tracking controller design method is proposed according to the matrix eigenvalue numerical-analysis method. The proposed controller design method theoretically explicitly specifies the range of the designed controller gains, which can greatly reduce the burden of setting and tuning the control parameters as compared with proportion-integral-derivative parameters tuning method. Several groups of experimental tests are presented to verify the effectiveness of the proposed positioning-tracking control method for LSRM motion control systems.