Backstepping-based output feedback control of an electro-hydraulic servo system

This paper addresses the control of a hydraulic servo system rod subject to uncertainty in parameters and to an unknown but bounded disturbance. The proposed backstepping-based robust controller guaranties a uniformly ultimately bounded tracking error leading to practical stability of the closed loop system. State-Observer is also designed using backstepping approach to estimate the states. The controller assures robustness against perturbations and uncertainties in the dynamics of the system. Numerical simulations illustrate the efficacy of the proposed scheme.