Model Based Robust Control: An Experimental Approach

This paper presents an empirical dynamic model of a single spring electromagnetic solenoid actuator system, including bounce, temperature effects and coil leakage inductance. The model neglects hysteresis and saturation, the aim being to compensate for these uncertainties through controller robustness. The model is validated for all regions of operation and there is a good agreement between model and experimental data. A nonlinear (sliding mode) estimator is developed to estimate position and speed from current measurements. Since the estimator makes use of only current measurement it is given the name sensorless. A closed loop nonlinear controller is also developed based on the sliding mode methodology. The position estimate is used for feedback to track a desired trajectory with low seating velocity. The control and estimation algorithms are experimentally validated