Feedforward Design and Optimality Aspects for the Control of Mechatronic Systems

This paper considers the tracking controller design for a mechatronic handling system. The presented approach is based on Port‐Hamiltonian systems and it achieves good tracking as well as good disturbance rejection based on a polynomial approach. A PBC controller stabilizes the trajectory and the feedforward part has to fulfill the given limitations and the time optimality. This approach avoids the solution of a boundary value problem and a real‐time integration of the internal dynamics. (© 2011 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)