Motion Control Systems

Motion Control Systems is concerned with design methods that support the never-ending requirements for faster and more accurate control of mechanical motion. The book presents material that is fundamental, yet at the same time discusses the solution of complex problems in motion control systems. Methods presented in the book are based on the authors' original research results. Mathematical complexities are kept to a required minimum so that practicing engineers as well as students with a limited background in control may use the book. It is unique in presenting know-how accumulated through work on very diverse problems into a comprehensive unified approach suitable for application in high demanding, high-tech products. Major issues covered include motion control ranging from simple trajectory tracking and force control, to topics related to haptics, bilateral control with and without delay in measurement and control channels, as well as control of nonredundant and redundant multibody systems. Provides a consistent unified theoretical framework for motion control designOffers graduated increase in complexity and reinforcement throughout the bookGives detailed explanation of underlying similarities and specifics in motion controlUnified treatment of single degree-of-freedom and multibody systemsExplains the fundamentals through implementation examplesBased on classroom-tested materials and the authors' original research workWritten by the leading researchers in sliding mode control (SMC) and disturbance observer (DOB)Accompanying lecture notes for instructorsSimulink and MATLAB® codes available for readers to downloadMotion Control Systemsis an ideal textbook for a course on motion control or as a reference for post-graduates and researchers in robotics and mechatronics. Researchers and practicing engineers will also find the techniques helpful in designing mechanical motion systems.