Robust Trajectory Tracking for an Electrohydraulic Actuator

Various robust control techniques, such as integral-block, sliding-mode, and $H$-infinity controls, are combined to design a controller, forcing an electrohydraulic actuator which is driven by a servovalve to track a chaotic reference trajectory. This approach enables one to compensate the inherent nonlinearities of the actuator and reject matched external disturbances and attenuate mismatched external disturbances. The capabilities of the approach are illustrated in a simulation study.