A passivity based control for an electropneumatic actuator with a mass variation

This paper deals with robust control problem of an electropneumatic system subjected to parameters uncertainties and load disturbances. The control strategies are based on passivity control approaches. First, the nonlinear model of the electropneumatic system is presented. Then, a nonlinear control law is developed without depending on the mass of the carriage, to track desired position. Experimental results for various values of the mass are also presented and discussed.