This research considers the control of force and position along a single axis actuator in the presence of significant real discontinuous nonlinearities and large magnitude disturbance forces. The problem is considered in the context of proposed improvements to a prototype electromechanical actuator via force feedback compensation. The two main obstacles to such a substitution are that the prototype is less compliant than the existing hydraulic actuator and the target system has a low resonant mode (6-8 Hz) which is easily excited by control action.;While circumstances have not allowed this research to continue to the experimental stages, several contributions have been made. The most significant outcome is the demonstration of the need for some mechanism such that the system characteristics are different during transient force disturbances and during nominal servo conditions. It has been proposed that nonlinear system damping offers the best disturbance force rejection, without compromising servo performance. Possible solutions have been posed, cautions have been voiced, and future directions have been suggested.
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