Robust Hinfinity position control synthesis of an electro-hydraulic servo system.
This paper focuses on the use of the techniques based on linear matrix inequalities for robust H(infinity) position control synthesis of an electro-hydraulic servo system. A nonlinear dynamic model of the hydraulic cylindrical actuator with a proportional valve has been developed. For the purpose of the feedback control an uncertain linearized mathematical model of the system has been derived. The structured (parametric) perturbations in the electro-hydraulic coefficients are taken into account. H(infinity) controller extended with an integral action is proposed. To estimate internal states of the electro-hydraulic servo system an observer is designed. Developed control algorithms have been tested experimentally in the laboratory model of an electro-hydraulic servo system.
Milić
Vladimir
V
Department of Robotics and Automation of Manufacturing Systems, Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb HR-10000, Croatia. vladimir.milic@fsb.hr
Situm
Zeljko
Z
Essert
Mario
M
D000465:Algorithms; D003198:Computer Simulation; D004581:Electronics / Q000706:statistics & numerical data*; D004867:Equipment Design / Q000706:statistics & numerical data; D007221:Industry / Q000706:statistics & numerical data*; D016014:Linear Models; D017711:Nonlinear Dynamics