14 Real Time Control Solution for Nonlinear Position System

Control structures with robust and/or nonlinearity compensator components represent one of the most successful solutions for the real-time control of the nonlinear processes. The paper proposes a structure and the correspondent original methodology of designing and physically implementation based on feedforward - feedback hybrid command. The applicability of the structure is proved using a real-time structure with an RST control algorithm. In the end, its software implementation and the obtained results are also shown.