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Modelling study, analysis and robust servo control of pneumatic cylinder actuator systems

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4 Author(s)
Wang, J. ; Dept. of Electr. Eng. & Electron., Liverpool Univ., UK ; Wang, D.J.D. ; Moore, P.R. ; Pu, J.

A modelling study on pneumatic cylinder actuator systems is carried out based on the standard orifice theory. The pneumatic cylinder actuators are modelled as a cascade connection of two nonlinear subsystems affine in the control input. The model validation has been conducted by comparing open-loop system dynamic responses obtained through simulation and experiments. Finally, a class of robust servo control strategy is proposed, which guarantees the profile following precision. An example is included to demonstrate the servo control design procedure

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Control Theory and Applications, IEE Proceedings -  (Volume:148 ,  Issue: 1 )