Advances in High-Performance Motion Control of Mechatronic Systems
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Advances in High-Performance Motion Control of Mechatronic Systems

Advances in High-Performance Motion Control of Mechatronic Systems by Takashi Yamaguchi, Mitsuo Hirata, and Chee Khiang Pang | PDF Free Download.

High-Performance Motion Control Contents

  • Introduction to High-Performance Motion Control of Mechatronic Systems
  • Fast Motion Control Using TDOF Control Structure and Optimal Feedforward Input
  • Transient Control Using Initial Value Compensation
  • Precise Positioning Control in Sampled-Data Systems
  • Dual-Stage Systems and Control
  • Concluding Remarks from Editors

Preface to Advances in High-Performance Motion Control of Mechatronic Systems

Mechatronic systems—the synergetic integration of mechanical, electrical, computational, and control systems—have pervaded consumer products ranging from large-scale braking systems in vehicular agents to small-scale integrated sensors in portable mobile phones.

To boost sales and increase revenue in competitive consumer electronics industries, continuous improvements in servo evaluation and position control of mechatronic systems are essential.

The subject of this book is advanced control topics for mechatronic applications, and in particular, control systems design for ultra-fast and ultra-precise positioning of mechanical actuators in mechatronic systems.

Currently, most precise mechatronic systems, e.g., scanner carriage assembly in facsimiles, photocopy machines, and flatbed scanners, etc., read/write head-positioning in Hard Disk Drives (HDDs), or X-Y tables for steppers used in semiconductor or liquid crystal manufacturing equipment, etc.

Consist of an (i) high-speed point-to-point movement motion mode, (ii) transient motion mode for settling to a target, and (iii) tracking motion mode to remain on the desired position. During operations, the vibration of the mechanical actuators (excited during acceleration, deceleration, and jerk) remains a significant problem.

As such, the generation of the desired reference trajectory as well as the corresponding servo control design for transient and steady-state responses are important.

In this book, we propose several state-of-art advanced control techniques to tackle these issues for each of the above-mentioned modes of operation based on our latest research activities.

This book allows readers to understand the entire process of how to translate control theories and algorithms from a fundamental theoretical viewpoint to actual design and implementation in realistic engineering systems.

With the required positioning accuracy in current mechatronic systems in the order of Armstrong levels (< 1 × 10−9 m), readers will also be able to understand what kind of advanced control techniques would provide solutions for the next generation of high-performance mechatronics. 


This book is intended primarily as a bridge between academics in universities, practicing engineers in industries, and scientists working in research institutes.

One of the most advanced control technologies has been developed and applied onto HDDs (being classic examples of high-performance mechatronic systems), as ultra-short seek time and ultra-high read/write head positioning accuracy are required for narrower data track width with ever-increasing areal data storage densities.

The developed motion control technologies for precision position control are also widely applicable to various industries such as manufacturing, robotics, home appliances, automobiles, optical drives, etc.

For example, an engineer who mounted a piezoelectric actuator on a flexible beam would like to know how to damp the critical resonant modes of the beam using active vibration control in discrete-time. Or a scientist working on robotic systems would like to know how to actuate a two-link robot manipulator from point to point as quickly and accurately as possible in a dual-stage actuation framework.

All of the control design methodologies presented have already been applied to various existing high-performance mechatronic systems, so it would be most beneficial to engineers and researchers who are working on control systems and mechatronics. 

Learning Outcomes

The desired advanced transient and steady-state position control consist of ultra-high-speed precision motion control (seek), control of transient states (settle), and ultra-strong disturbance rejection control (follow) of the single or dual-stage mechanical actuators in mechatronic systems.

This book aims to systematically describe the developed control technologies for the respective modes in detail and presents the effectiveness of the proposed methodologies which are applied to or verified on various high-performance mechatronic systems.

This book can be readily appreciated and used by engineers from industries as well as researchers from research institutes and academia and will be valuable to researchers and students in translating advanced control theories to other realistic engineering applications.

Supplementary Materials

The following monograph edited by the same team of editors is recommended as a supplementary reading text: T. Yamaguchi, M. Hirata, and C. K. Pang (eds.), High-Speed Precision Motion Control, CRC Press, Taylor and Francis, Boca Raton, FL, USA, 2011. The above-mentioned book covers various track-seeking, track-settling, and track-following control algorithms with actual application or experimentation on commercial HDDs, and proposes the HDD Benchmark Problem for readers to understand and verify the developed schemes.

However, the depth of the description of the control methodologies was limited due to the coverage of various approaches to motion control design. In this book, we identify one outstanding algorithm for each motion control, e.g.

Fast motion control, transient control, and precise position control, which are described in detail from a theoretical background to actual applications. In particular, dual-stage actuation is currently one of the latest and most widely researched topics in the area of motion control.

While the editors remain the same, the contributing authors in our present monograph are more diversified, working in academia, research institutes, and laboratories, as well as industries.

As such, readers of our book are expected to understand the theoretical background and engineering issues systematically and will be able to provide effective solutions for various industrial applications. 

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