A variety of linear actuation technologies are presently available on the market or are readily manufacturable. Each of these technologies represents a series of compromises between various mechanical capabilities. One combination of these characteristics that is not readily available is a self-contained actuator capable of long travel, that is easily manufacturable, and controllable. An actuator of this type would be particularly well suited for use in assistive technologies such as stair lifts. The research in this thesis outlines the development of a novel actuator that fits these criteria and evaluates the properties of such an actuator. This actuator functions through the interaction of a double-sided timing belt and a custom slotted linear rack. These provide the force transfer elements of the actuator and represent the primary novelty of the design. As such the double-sided timing belt-based self-powered linear actuator (DSTB-SPLA) is designed from the timing belt and rack outward. The DSTB-SPLA drive train is designed with considerations for smooth operation of the belt-rack interface as well as the maximum mechanical and electrical loading of the system. The control and sensing electronics are selected and embedded into the system to provide a refresh rate high enough for feedback-based control. A PID controller and a model-based SMC controller are each applied to the DSTB-SPLA and evaluated based on control system metrics. Finally, the mechanical efficiency and the maximum loading of the DSTB-SPLA are experimentally determined to provide a measure of the mechanical characteristics of the actuator.