Patent ID: 8860352

Claim:
A method for controlling an operation of an actuator, comprising: determining a first control signal to change a position of a moving element of the actuator according to a trajectory of the moving element; determining a second control signal to compensate for a first component of an error of the operation due to uncertainty of a model of the actuator; determining a third control signal to compensate for a second component of the error of the operation due to an external disturbance on the actuator; and controlling the operation of the actuator based on a combination of the first control signal, the second control signal, and the third control signal, wherein the determining the third control signal at an instant of time during the operation, and further comprising: determining an energy error between a total actual energy of the actuator during the operation and an energy of the actuator resulted from application of the first and the second control signals; and determining the third control signal based on the energy error, wherein steps of the method are performed by a processor.