High precision actuator control

We consider the controller design problem when the input signal is known in advance and the performance is measured as maximum absolute tracking error. We design a two-parameter controller that allows one to achieve very precise nominal tracking while keeping the control input rate within desired limits. We apply the method to a first example and uncover the structure of the controller parameters. Finally, we apply the method to a realistic model of actuator for micro-surgery. The simulation results show that the design method can be used successfully to impose stringent time-domain specifications on the resulting closed loop system