Experiments and simulations on the nonlinear control of a hydraulic servosystem

This paper presents the derivation, simulation, and implementation of a non linear tracking control law for a hydraulic servosystem. An analysis of the nonlinear system equations is used in the derivation of a Lyapunov functio n that provides for exponentially stable force trajectory tracking, This co ntrol law is then extended to provide position tracking, The proposed contr oller is simulated and then implemented on an experimental hydraulic system to test the limits of its performance and the realistic effects of frictio n.