METHOD AND CONTROLLER FOR CONTROLLING OPERATION OF ACTUATOR

摘要

A method controls an operation of an actuator. A first control signal is determined to change a position of a moving element of the actuator according to a trajectory of the moving element. A second control signal is determined to compensate for a first component of an error of the operation due to uncertainty of a model of the actuator. A third control signal is determined to compensate for a second component of the error of the operation due to an external disturbance on the actuator. The operation of the actuator is controlled based on a combination of the first control signal, the second control signal, and the third control signal.