Electromechanical actuator

µoA k
L = N2 =
x x
Steady-state equilibrium equations:
V = RI
k I2
= Fa + K(ξ − x)
2 x2
Dynamic equations:
v = Ri + e
d 2x dx
fa = M + K (x − ξ) + D
−f
dt 2 dt e
dλ di dL dx k di i dx
e= =L +i = −k 2
dt dt dx dt x dt x dt
1 2 dL k i2
fe = i =−
2 dx 2 x2

equilibrium position
x= ξ
when i=0 & fa=0