Integral Robust Control of Electro-hydraulic Force Servo System Based on ESO

Electro-hydraulic servo forced control system is a nonlinear control system with nonlinear compound disturbances such as unmodelled friction force and parameter uncertainty. But the traditional linear control can not meet the performance requirements of this system. Aiming at the above problems, taking the electro-hydraulic servo force control system as the research object, a nonlinear model of the electro-hydraulic servo force control is constructed, and an integral robust control method based on the extended state observer (ESO) is designed based on Lyapunov theory. Firstly, the nonlinear unknown disturbance in the system is estimated and compensated online by using the extended state observer (ESO). Secondly, based on the estimated value of the output of the extended state observer, an integral robust controller is designed, and its stability is analyzed. Finally, to verify the effectiveness of the algorithm, the proposed algorithm is simulated by using Matlab, and the results show that the algorithm has good robustness and tracking accuracy.