In the paper a nonlinear load control method is developed and implemented for a permanent magnet linear synchronous motor (PMLSM). The purpose of the controller is to track a flexible load to the desired velocity reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is analyzed by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.

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