Robust performance control of electrohydraulic actuators for electronic cam motion generation

This paper addresses digital control design and implementation for an electrohydraulic servo actuator used in electronic cam motion generation. The actuator dynamics, due to a broad range of motion trajectories, have different degrees of nonlinearity and are represented by a number of linear models with associated bounds of unmodeled dynamics. For each specified range of motion trajectories, a robust performance controller corresponding to the particular linear model is designed to ensure consistent performance under the effect of nonlinear dynamics in the range. A repetitive controller and a feedforward controller are added as plug-ins to the robust performance feedback controller. Experimental results are given to demonstrate the effectiveness of the digital motion control synthesis