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Model-based force and position tracking control of an asymmetric cylinder with a digital hydraulic valve

Research output: Contribution to journalArticleScientificpeer-review


Original languageEnglish
Pages (from-to)163-172
JournalInternational Journal of Fluid Power
Issue number3
Early online date25 May 2016
Publication statusPublished - 1 Sep 2016
Publication typeA1 Journal article-refereed


This paper presents a model-based control solution for large inertia systems controlled by a fast digital hydraulic valve. The solution is based on model-based force control and it is shown that the cylinder chamber pressures have first order dynamics with the proper parameter selection. The robust stability is analyzed under unknown load mass, bulk modulus, and delay, and it is shown that a simple cascaded P  +  PID controller results in good control performance and robustness. The simulated results show smooth and stable response with good tracking performance despite large variations in the load mass and bulk modulus.

ASJC Scopus subject areas


  • Digital hydraulics, tracking control, force control, position control

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Field of science, Statistics Finland

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