Robust control techniques for hydraulic actuators

Robust design techniques for controlling the velocity of a hydraulic actuator having uncertain parameters due to physical and linearization assumptions, are proposed. In particular, the design requirement of robust asymptotic command following through robust regional stabilizability is studied using an independent from the uncertainties "robust" PID controller. Moreover, the problem of robust asymptotic tracking via a robust PI state feedback controller is considered. In both cases explicit finite step algorithms for the computation of the robust controller parameters are presented. The effectiveness of the controllers for the hydraulic actuator is illustrated through simulations for several values of the model's uncertain parameters.