Pulse-width modulated control of electromechanical systems

A pulse-width modulated control for a class of electromechanical system models is designed. It is shown how approximate feedback linearization, based on the integral manifold approach, can be achieved in an average sense. A correction term to the duty ratio is included which, in an application to electromechanical actuators, compensates for the electrical transients that cause torque ripple. Although designed on the basis of a model obtained through averaging, simulations show that the correction term improves the trajectory tracking performance of the actual system.<>