Je. Bobrow et K. Lum, ADAPTIVE, HIGH-BANDWIDTH CONTROL OF A HYDRAULIC ACTUATOR, Journal of dynamic systems, measurement, and control, 118(4), 1996, pp. 714-720
Hydraulic servovalve controlled systems contain many time-varying dyna
mic characteristics that are difficult to model. Controllers for such
systems must either adapt to these changing parameters or be robust en
ough to handle the parameter variations. In order to achieve the highe
st possible bandwidth, an adaptive controller is developed for the sys
tem that uses full-state feedback for simultaneous parameter identific
ation and tracking control. This controller takes into account the hyd
raulic fluid compressibility with an on-line identification scheme. Ex
perimental results demonstrate a four fold improvement in bandwidth as
compared to a conventional fixed gain proportional controller.