Practical control enhancement via mechatronics design

Mechatronics is concerned with designing machines with enhanced capabilities using advanced control methods. Here we describe how some of these advanced control methods have evolved and how they can be applied effectively. The resulting performance enhancement is explained by the use of a number of example case studies. It is shown that using these methods greatly improves the operational capabilities of mechatronics products and can, in many cases, lead to considerable increases in performance specifications. The paper represents a survey of research work undertaken into mechatronics control methods by the authors and their colleagues. The following control issues are discussed: kinematics control; dynamic control; deadbeat robotics control; active force control; adaptive control; and an active suspension system.