On the limitations of force tracking control for hydraulic active suspensions

Andrew Alleyne, Rui Liu, Heather Wright

Research output: Chapter in Book/Report/Conference proceedingConference contribution

56 Scopus citations


This paper presents analysis of a particular force tracking control problem for rectilinear hydraulic actuators governed by a servovalve. It presents no new theory, but rather uses a revealing model reduction insight coupled with Classical analysis to explain a physical phenomenon. As such, this work is an attempt to explain why a seemingly innocuous problem is more subtle than initially believed. A motivation for this problem is given along with prior attempts at a simple solution. The solution method evaluated is a common Proportional-Integral-Derivative type of controller. It is shown that the simple PID is quite adequate for other types of control objectives such as force regulation or position tracking. However, this simple solution method is shown to be inadequate for force tracking due to fundamental limitations of the problem formulation. Therefore, more advanced control algorithms (Alleyne, 1994) are shown to be a necessity rather than a luxury.

Original languageEnglish (US)
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Number of pages5
StatePublished - 1998
Externally publishedYes
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: Jun 24 1998Jun 26 1998

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference1998 American Control Conference, ACC 1998
Country/TerritoryUnited States
CityPhiladelphia, PA


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