Minimum-time position control of a linear brushless dc motor driver with non-zero initial condition

This study presents the exact solution to the minimum-time position control problem of electromechanical systems including linear brushless dc motor drivers. In its derivation, the authors consider fully actuator dynamics as well as physical limitations in current, voltage and jerk. In particular, it is given explicitly in feedback form. In order to demonstrate further the practical use of the authors results, the authors also present some simulation results for the case of on-the-fly control quite often required in industrial control systems.