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A new scheme of using generic model control based on input equivalent disturbance (AGMC) to design controller is presented for nonlinear electro-hydraulic servo control systems. It is very easy to tune for the controller whose parameters are of very explicit physic meaning. The influence on control performance of time-varying parameters and unmeasurable disturbances can be effectively compensated. The simulation results for nonlinear electro-hydraulic servo systems are given to demonstrate the correctness and effectiveness of approach proposed.