Sliding mode-based robust position control of an electrohydraulic system

In this paper we present a method to accurately control the position of an electrohydraulic system. Due to its having a nonlinear model, the electrohydraulic system is not accurately stabilized by a proportional controller and suffers from wind up phenomenon when applying the PI controller. To overcome the problems encountered by the action of these linear controllers, a sliding mode controller using realizable reference is used to obtain an accurate position in addition to having a short settling time. The efficiency of the proposed scheme is illustrated using numerical simulations.