Optimal linearization of the dynamic behavior of an on/off actuated single pneumatic cylinder

The purpose of this work is to obtain a simple optimal linear model of a single pneumatic cylinder, which is controlled by two on/off solenoid valves. Here it is proposed an strategy to find a relation between the driving times to handle the on/off valves and a single continuous control input. This relation represents an open loop control that generates a system with linear input/output response, with maximum speed response, and with zero deadband. So, this relation improves the results of the pulsing scheme given previously by van Varseveld and Bone (1997).