The reduction of impacts which occur in electromechanical valve actuators due to the presence of valve lash have been largely neglected in the literature. Instead, the majority of work in this area has focused on impacts occurring elsewhere. As such, a controller is presented here to account for the impacts which occur during the release phase of the valve opening due to the presence of valve lash. A combination of feed forward and iterative learning control are used to achieve trajectory tracking during the release bounding the impact velocity by 0.4 m/s.

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