The focus of this paper is the application of mini and microscale electrical cylinders as high-performance translational actuators that guarantee fast and precise positioning. The objectives are to design, analyze, test and compare different control algorithms for closed-loop electrical cylinders with permanent-magnet direct current and synchronous servomotors. These electrical cylinders are widely used in aerospace, automotive, robotics and other electromechanical systems. For example, electrical cylinders displace the control surfaces of flight and undersea vehicles, robotic arms, etc. The major emphases are placed in the analysis and design of affordable, robust, efficient, and high torque density servos. Electrical cylinders with different servomotors are tested in order to examine alternative solutions. The performance comparison is made for electrical cylinders regulated using distinct controllers. These control laws are designed and implemented using advanced DSP, microcontrollers and VLSI controllers-drivers. We synthesize proportional-integral-derivative (PID), nonlinear, relay, and sliding mode controllers to guarantee the optimal (achievable) dynamic performance, stability, robustness, accuracy, etc. For different commands (angular or linear position and acceleration) and loads, accurate positioning and tracking with zero steady-state error are achieved. Our results illustrate that electrical cylinders with synchronous servomotors are the preferable solution in high-performance applications.

Date of creation, presentation, or exhibit



Copyright 2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. ISBN: 0-7803-8335-4Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works in February 2014.

Document Type

Conference Proceeding

Department, Program, or Center

Microelectronic Engineering (KGCOE)


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