Application of an optimal control synthesis strategy to an electro-hydraulic positioning system

Successive Galerkin Approximation (SGA) provides a means for approximating solutions to the Hamilton-Jacobi-Bellman (HJB) equation. The SGA strategy i s applied to the development of optimal control laws for an electro-hydraul ic positioning system (EHPS) having nonlinear dynamics. The theory underlyi ng the SGA strategy is developed. Equations of motion for an EHPS are prese nted and simulation results are compared with those obtained experimentally . Results demonstrating the experimental application of the SGA synthesis s trategy to an EHPS under a variety of operating conditions are presented. T hese results are compared to those obtained from a linear quadratic regulat or developed from linearized model equations.