The tracking control of uni-axial servo-hydraulic shaking table system using time delay control

In this paper, research results for improvement of tracking performance of servo-hydraulic shaking table are presented. Servo-hydraulic shaking table system is totally nonlinear due to the nonlinear flow property in a cylinder by actuation of servo valve. And it is demanded for the shaking table system to track arbitrary trajectories up to high frequency even at the extreme situations such as substantial external loads and large disturbances. For this purpose, time delay control (TDC), a robust control technique for highly nonlinear system, is applied to this system. TDC does not require any linearized model and any real time computation of nonlinear model. It is shown through numerical simulations that tracking performance of servo-hydraulic shaking table system is improved up to 30 Hz in real time by applying TDC