This document discusses energy optimization in systems with jerk-decoupled feed axes. It first describes jerk decoupling as using a spring and damper element to decrease vibrations. It then presents the mechanical model, transfer functions, and energy equations for the primary and secondary parts. Finally, it discusses linear motor control methods like trapezoidal commutation and field-oriented control, and models friction phenomena using models like Stribeck, Coulomb, and LuGre.