Patent ID: 8885315

Claim:
A motion control system comprising: first and second actuators operatively coupled to a common drive element and respectively configured to provide first and second actuator forces to the common drive element in response to an actuator request input for a desired position, wherein each of the first and second actuators include a position sensor; and a controller configured to include relative motion state control logic providing mean and differential motion state regulators of the first and second actuators for providing first and second actuator force command signals respectively to the first and second actuators, the controller is further configured to include reaction force observer logic providing estimated mean and differential reaction force observers respectively in communication with the mean and differential motion state regulators for estimating first and second actuator forces, the mean and differential motion state regulators minimizing a differential between the first and second actuator forces, wherein each of the first and second actuator position sensors respectively provide first and second actuator measured position signals to the controller to provide feedback as to whether the first and second actuators have achieved the desired position from the actuator request input.