ABSTRACT
The organization of the paper is as follows; the modelling of the system is described in Section 6.2. The position profile is introduced in Section 6.3 . The control design is discussed in Section 6.4. The velocity loop optimization is given in Section 6.5 . The auto tuner is formulated in Section 6.7. The simulation and experimental results are presented in Sections 6.S and 6.9, respectively. Finally, the conclusions are drawn in Section 6 . 10.
