Advanced nonlinear control strategy for motion control systems

In this paper, the authors introduce a basic design methodology for developing a backstepping nonlinear controller for industrial motion control systems. With a simplified second-order system model for the motion control systems, they illustrate the backstepping design step-by-step. Backstepping is a novel and practical nonlinear design tool, which is based on constructing a Lyapunov function for the closed-loop systems and guarantees the stability and tracking performance through the Lyapunov energy dissipation. Although the simplified second-order model for the motion control systems is linear, the nonlinear control design approach generate aggressive control effort to reduce the tracking error present in the motion control systems, which significantly improves the system bandwidth. The effectiveness of their design scheme is shown through computer simulation and experiment results