A time-delayed dynamic inversion scheme for mechatronic control of hydraulic systems

A method is presented for robust control of hydraulic systems. Hydraulic systems with high-fidelity electronic control are considered as a special class of mechatronic systems, where mechanical motion is achieved using hydraulic actuation. In this paper, such systems are referred to as hydrotronic systems. A control system is presented for such systems consisting of hybrid position/force control where the outer-loop position control is based on the time-delay control for robust and simplified dynamic inversion for a nonlinear system. Simulation results are presented that show advantages of the new method as compared to other methods reported in the literature.