Modelling study, analysis and robust servocontrol of pneumatic cylinder actuator systems

A modelling study on pneumatic cylinder actuator systems is carried out bas ed on the standard orifice theory. The pneumatic cylinder actuators are mod elled as a cascade connection of two nonlinear subsystems affine in the con trol input. The model validation has been conducted by comparing open-loop system dynamical responses obtained through simulation and experiments. Fin ally, a class of robust servocontrol strategy is proposed, which guarantees the profile following precision. An example is included to demonstrate the servocontrol design procedure.