Robust Bounded Control Design and Experimental Verification for Permanent Magnet Linear Motor With Inequality Constraints

The robust bounded control problem for the permanent magnet linear motors with inequality constraints is studied. Firstly, the dynamical model of the system is built, through the state transformation is used to satisfy the inequality constraint of the position output. Thus, the controller after the state transformation can ensure that the control output of the linear motor stays the desired range. Selecting the appropriate boundary function, and then the upper and lower bounds of the control output can be set according to our control requirements. The control scheme can guarantee uniform boundedness and uniform ultimate boundedness. The results of experiments and simulation show that the proposed algorithm can assure the control output within the desired range regardless of the uncertainty.