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A fourth-order system model for a class of hydraulic forging system is constructed. According to the characteristics of nonlinearity and uncertainty, a control method for a high order system which is based on backstepping theory is proposed,and a self-adaption algorithm for relevant parameter is deduced from the Lyapunov Theorem. It solves the problem which a forging system cannot realize a demand control under the parameter uncertainty circumstance such as resistance fluctuation. The simulation result shows that the proposed method can realize the position tracking with high precision and have a better robustness.