ABSTRACT
Motion control (MC) is concerned with all the issues arising in the control of the movement of a physical device. This chapter discusses most relevant issues in the different areas of interest for the discipline. It describes issues relevant to high-accuracy MC systems. The chapter addresses problem of the MC in human–machine interaction and presents results in the field of remote MCs. MC has been dealing with the control of the movement in macro-world scenarios, where the performances are usually stated in terms of speed and accuracy of the movement. In precision MC applications, inherent requirements for the feedback system are a robust performance on system stability and/or controllability, disturbance suppression, and possibly adaptation capability against system variations. When designing an MC system, one of the most important issues is to have an accurate model of the process to be controlled at hand, in order to achieve the most effective model-based feedforward com-pensation and/or more progressive design of feedback controllers.
