Real-time control of non-minimum phase electro-hydraulic system using trajectory-adaptive ZPETC

Hydraulic actuator has been widely used in industrial equipments and processes principally due to its high-power density and system solution that it can provided. The natural nonlinear property of hydraulic cylinder has challenged researchers in designing suitable controller for positioning control, motion control and tracking control. This paper proposes a controller design using trajectory-adaptive ZPETC without factorization of zeros and implementing real-time control to non-minimum phase electro-hydraulic system. Simulation and real-time experimental results were compared and evaluated and they show interesting tracking performances.