Robust Control of Electro-Hydraulic Servo System

Abstract

An attempt to synthesize a robust control of an electro-hydraulic tracking system is discussed in the paper. Object nonlinearity is represented by an equivalent linear model in a state space with structured uncertainty. Some of the imprecisely known parameters are introduced as sources of structured uncertainty. An H∞ synthesis of a regulator has been attempted and simulation experiments have been carried out with the nonlinear model. The results of the simulation of the system with the proposed robust controller are compared with the data obtained when controlling the real system with a built-in PI controller. Transient analysis shows improved performance and stability in the operation of the electro-hydraulic system compared to that with PI control under the same operating conditions.