This paper aims to show the modelling and control of an hydraulic servo system, targeting at frequency domain based controller design and the implementation of a LPV controller. The actual set-up consists of a mass, moved by a hydraulic cylinder and an electro-hydraulic servo valve. A nonlinear parametric model of the system, a number of fitted linear black box models as well as a LPV model combining these fits have been determined. In discretization of the control strategies for implementation on a digital control system, a new discretization algorithm is derived for LPV structures. Simulations and experimental results indicate the potential benefits of a position dependent controller over a classical controller, but show the limitations as well.
|Title of host publication||Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE, 4-6 October 2006, Munich, Germany|
|Place of Publication||Berlin|
|Publisher||Institute of Electrical and Electronics Engineers|
|Publication status||Published - 2006|