Application of Singular Perturbation Theory to Hydraulic Servo Drives - System Analysis and Control Design
نویسنده
چکیده
This paper describes the system analysis and control design of an electrohydraulic servo-drive using a nonlinear composite feedback control approach based on singular perturbation theory (Kokotovic, Khalil & O’Reilly 1986). A comparison with linear output feedback (P-control) and linear state feedback (LQRdesign) shows the bene¿ts of the proposed method. The nonlinear control design features feedback linearization of the slow system (reduced system, corresponding to the incompressible model) and simple proportional feedback of the pressure difference (fast system). Experimental results are given for step responses and sine tracking.
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تاریخ انتشار 2000