Energy-based nonlinear control of hydraulically actuated mechanical systems

This contribution is devoted to a nonlinear energy based controller design for plants consisting of a mechanical 1-DOF load system coupled to a general hydraulic actuator. A systematic controller design which maintains the Port Hamiltonian structure of the plant is demonstrated for the case of a double-ended piston with only one servovalve. The developed controller shows good robustness properties and is able to inject additional damping into the load system without velocity measurement. Finally, the performance of the control law is demonstrated by application to a special industrial plant.