  Significant improvements have been achieved in motion control systems with
the availability of high speed power switches and microcomputers on the market.
Even though motor drivers are able to provide high torque control bandwidth
under nominal conditions, they suffer from various physical constraints which
degrade both output amplitude and bandwidth of torque control loop. In this
context, peak power limit of a power source, as one of those constraints, has
not been fully explored from the control perspective so far. A conventional and
practical way of considering peak power limit in control systems is to model it
as a trivial torque saturation derived from the allowable torque at maximum
speed satisfying the constraint. However, this model is overly conservative
leading to poor closed loop performance when actuators operate below their
maximum speed. In this paper, novel ways of incorporating peak power limits
into both classical and optimal controllers are presented upon a theoretical
analysis revealing its effects on stability and performance.
