A hybrid nonlinear optimal control design is experimentally implemented on a ferromagnetic Terfenol-D actuator to illustrate enhanced tracking control at relatively high speed. The control design employs a homogenized energy model to quantify rate-dependent nonlinear and hysteretic ferromagnetic switching behavior. The homogenized energy model is incorporated into a finite-dimensional nonlinear optimal control design to directly compensate for the nonlinear and hysteretic ferromagnetic constitutive behavior of the Terfenol-D actuator. Additionally, robustness to operating uncertainties is addressed by incorporating proportional-integral (PI) perturbation feedback around the optimal open Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number.