Design of a robust internal-loop compensator of clutch positioning systems

This paper proposes a control scheme based on robust internal-loop compensator for a clutch positioning system. The purpose of control is to achieve a precise position control of automotive dry-clutch actuator system module. Overall system consists of the electric motor and the mechanical subsystem. A set of dynamic model is developed and validated experimentally. Robust internal-loop compensator is used to compensate unmodeled effect and unknown nonlinearities. Simulation and experimental results show that the proposed scheme has a better performance and tracking accuracy compared with simple PID controller.