Improved control of pneumatic lumber-handling systems

This paper presents the results on the modeling and the control of a heavy pneumatic machine designed for handling logs. Although pneumatic systems ar e used in many applications, control of such systems poses difficult proble ms because of nonlinearity, such as that caused by friction and the well-kn own nonlinear volume-pressure relationship. The paper shows that a signific ant improvement in performance results from modified self-tuning generalize d predictive control of pneumatic systems.