This work proposes a deterministic robust controller to improve tracking performance for a linear motor, taking into account the electrical dynamics imposed by a commercial current controller. The design is split in two parts by means of the backstepping technique, in which the first part corresponds to a typical deterministic robust controller, neglecting the electrical dynamics. In the second part, a second-order electrical dynamics is considered using a particular state transformation. There, the proposed control law is composed of a term to compensate the known part of the model and a robust control term to impose a bound on the effect of uncertainties on tracking error. Stability and boundedness results for the complete controller are given. To this effect, a general result on boundedness and stability of nonlinear systems with conditionally bounded state variables is derived first. Finally, experimental results for the complete controller show an improvement on tracking error of up to 31.7% when compared with the results from the typical controller that neglects the electrical dynamics.
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