engleski

Robust H_infinity 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 electro-hydraulic servo system.

electro-hydraulic systems; uncertain dynamic systems; positon control; H_infinity control; LMIs

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