Tampere University of Technology

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Robust control of digital hydraulic servo actuator

Research output: Chapter in Book/Report/Conference proceedingConference contributionProfessional


Original languageEnglish
Title of host publication9th workshop on digital fluid power (DFP17)
Number of pages15
Publication statusPublished - 7 Sep 2017
Publication typeD3 Professional conference proceedings
EventWorkshop on Digital Fluid Power -
Duration: 1 Jan 1900 → …


ConferenceWorkshop on Digital Fluid Power
Period1/01/00 → …


The paper studies robust position and velocity tracking control of a high inertia hydraulic actuator. Fast on/off valves with 3 ms response time are used to implement digital hydraulic valve system. A model-based control approach is used to realize high performance force control, and tracking control is implemented by cascaded velocity and position controllers. Earlier experimental results with cascaded P+PI controller have proven the approach and the focus of this paper is in the improvement of the robustness and performance by using robust control design methods. Simulated results show good tracking performance and excellent robustness against variations in bulk modulus and
inertia load. The system remains stable under 407 % increase in the load mass and 50 % reduction in the bulk modulus. The tracking performance with the nominal load mass is comparable to the more advanced control solutions.