This paper presents the design, control, and experimental performance evaluation of a long-stroke planar switched reluctance motor (PSRM) for positioning applications. Based on comprehensive consideration of the electromagnetic and mechanical characteristics of the PSRM, a motor design is first developed to reduce the force ripple and deformation. A control scheme with LuGre friction compensation is then proposed to improve the positioning accuracy of the PSRM. Furthermore, this control scheme is proven to ensure the stable motion of the PSRM system. Additionally, the response speed and steady-state error of the PSRM system with this control scheme are theoretically analyzed. Finally, the experimental results are presented and analyzed. The effectiveness of the precision long-stroke motion of the PSRM and its promise for use in precision positioning applications are verified experimentally
