The expectations from motion control systems have been rising day by day. As the systems become more complex, conventional motion control systems can not achieve to meet all the specifications with optimized results. This creates the necessity of fundamental changes in the infrastructure of the system. Field programmable gate array (FPGA) technology enables the reconfïguration of the digital hardware, thus dissolving the necessity of infrastructural changes for minor manipulations in the hardware even if the system is deployed.

This work addresses the optimal control problem of dynamical systems with inaccessible outputs. A case in which dynamical system outputs cannot be measured or inaccessible. This contradicts with the nature of the optimal controllers which can be considered without any loss of generality as state feedback control laws for systems with linear dynamics. Therefore, this work attempts to estimate dynamical system states through a novel state observer that does not require injecting the dynamical system outputs onto the observer structure during its design. A linear quadratic optimal control law is then realized based on the estimated states which allows controlling motion along with active vibration suppression of this class of dynamical systems with inaccessible outputs. Validity of the proposed control framework is evaluated experimentally.

This paper presents a comprehensive overview of the application of Variable Structure Systems (VSSs) with Sliding Mode (SM) methods in motion control systems. Our aim is to give implementable sliding mode design solutions for complex motion systems, actuators and supply converters. This paper provides a frame for further study of sliding mode applications in motion control systems.

In this chapter control of multibody systems in configuration space is discussed. Configuration control is presented. The enforcement of constraints, the dynamics of constrained systems and the control of unconstrained motion are shown. It is shown that all of these problems can be solved in the acceleration framework. The consistent structure of the transformations providing dynamical decoupling of motion for constraints systems is shown. The solutions are illustrated by examples.

The main topics in this chapter are the control of motion in the presence of interaction with the environment and constraints. Interaction force control, impedance control and the modification of motion due to interaction with the environment are shown. The enforcement of functional relations between systems is discussed in detail. All major ideas are illustrated by examples.

Here the dynamics and the control of multibody systems required to perform a task or set of tasks are discussed. Operational space control is discussed for nonredundant and redundant tasks. This serves as a basis to discuss task-constraint relationships. Dynamically consistent transformations are shown. The methods are illustrated by simulation examples.

In this chapter the methods of deriving equations of motion of mechanical and electromechanical systems are discussed. The basics of electrical, mechanical and electromechanical systems modeling are shown. The chapter offers an overview and illustrative examples of deriving the dynamical models often used in motion control systems.

The subject in this chapter is the bilateral control with and without a delay in the control loop. The solution is presented for systems with and without scaling of the interaction variables (position, force). The issues of transparency and the operator's role in the overall system are shown. Bilateral control in systems with a constant and variable unknown delay in measurement and in the control channels is also discussed. Simulation examples are presented to illustrate system behavior.

The study of the discontinuous control systems has been maintained on high level in the course of the development of the control system theory. Relay regulators were present in very early days of the feedback control systems application. The study of dynamical systems with discontinuous control is a multifaceted problem, which embraces control theory and application aspects. The problem of dynamical plant with discontinuous control has been approached by mathematicians, physicists, and engineers to solve problems that arise in their own field of interest.

Motion Control Systems is concerned with design methods that support 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. 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.

Design of a motion control system, convenient for a wide range of applications in industry, space, biology, medicine, particularly including more than one physics environment is very important. Well known control architectures like trajectory tracking, compliance control, interaction force control are scientific milestones which has common control task: to maintain desired system configuration. In this concept, motion control system can be an unconstrained motion-performed interaction with neither environment nor any other system, or constrained motionsystem in contact with environment and/or other systems. This paper provides the function based design approach to formulate control of constrained system particularly bilateral systems in micromanipulation applications. The control objective aimed to maintain desired functional relations between human and environment defining convenient tasks and their proper relations on master and slave motion systems. Preliminary results concerning position tracking, force control and transparency between master and slave systems are clearly demonstrated.