This work presents nonlinear control algorithms for a benchmark mechanical system actuated by different types of electric machinery, emphasizing system stability and robustness - pivotal in the development of optimal position trajectory controllers for common motors.;College or university bookstores may order five or more copies at a special student price, available on request from Marcel Dekker.Mathematical background; BDC motor (FSFB); PMS motor (FSFB); BLDC motor (FSFB); SR motor (FRSB); induction motor (FSFB); BDC motor (OFB); PMS motor (OFB); BLDC motor (OFB); SR and BLDC motor (PSFB); induction motor PSFB-I; adaptive PSFB control; sensorless control of the SEDC; induction motor PSFB-II.