Position control with pole placement for a miniature double-cylinder hydrostatic actuator

Due to compact framework and flexible connection, miniature double-cylinder hydrostatic actuator has unique advantages in narrow space actuation. However, long and thin hose, variable oil bulk modulus and leakage bring about considerable nonlinearity to position control of the actuator under varying external load. In order to improve position tracking and anti-interference performance of the actuator, a control method with pole placement is proposed. Modeling and simulation of the system with a controller shows that the method based on pole placement has good steady and dynamic effects on position control of the actuator. Compared with the simulation results of the actuator with PID controller, the pole placement method exhibits faster response in tracking the target position of the hydraulic cylinder and better robustness in the case of external load interference.