This paper addresses the analysis and control of an electrohydraulic velocity servosystem in the presence of flow nonlinearities and internal friction. Two different nonlinear design procedures are employed: feedback linearization and backstepping. It is shown that both these techniques can be successfully used to stabilize any chosen operating point of the system. Additionally, invaluable new insights are gained about the dynamics of the system under consideration. This illustrates that the true potential of constructive nonlinear design lies far beyond the mere task of achieving a desired control objective. All derived results are validated by computer simulation of a nonlinear mathematical model of the system.
|Original language||English (US)|
|Number of pages||6|
|Journal||Proceedings of the American Control Conference|
|State||Published - Jan 1 2002|