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This paper investigates the effects of varying external load on sensorless plunger position estimation regarding solenoid actuators. We propose an improved technique capable of compensating these forces applied to the solenoid. Major advantage of the method is that both plunger position and external load can be simultaneously estimated, thus further improving robustness and extending the possible fields of application of such devices. Experimental results are also presented in support of the usability of the method. [ABSTRACT FROM PUBLISHER]