Time optimal tracking control for a permanent magnet linear actuator with bounded energy loss

Richard Stadlmayr, Harald Daxberger, Reinhard Gahleitner

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review


This paper considers the tracking controller design for a mechatronic handling system. The presented approach is mainly based on Port-Hamiltonian systems and it has the intension to combine a feedforward controller with a state feedback controller in order to achieve good tracking behavior as well as good disturbance rejection for the controlled plant. The controller design is separated into several tasks. At first a passivity-based tracking controller is derived for the mathematical model. The IDA-PBC design leads also to a Lyapunov function for the stability analysis of the closed loop. In addition the feedback controller is combined with a flatness-based feedforward control law and one has to derive a desired trajectory for a differentially flat system, where the fictive output and the regulated output do not match. Furthermore some given technical and optimality limitations should be considered within the trajectory planning problem. This approach avoids the solution of a boundary value problem as well as a real-time integration of the internal dynamics
Original languageEnglish
Title of host publicationProceedings of the 18th IFAC World Congress
Number of pages6
Edition1 PART 1
Publication statusPublished - 2011
Event18-th IFAC World Congress - Milan, Italy
Duration: 28 Aug 20112 Sept 2011

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
ISSN (Print)1474-6670


Conference18-th IFAC World Congress


  • Tracking Control
  • Output Regulation
  • Port-Hamiltonian Systems
  • Feedforward Design
  • Energy Efficiency
  • Mechatronics
  • Feedforward design
  • Output regulation
  • Energy efficiency
  • Tracking control
  • Port-Hamiltonian systems


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