Model reference robust backstepping design for pneumatic driven ball screw table system

A model reference robust backstepping controller is proposed for radial pneumatic motor motion systems with variable inlet pressure and time-varying payload. The radial pneumatic motoe, first of all, is modeled by a non-autonomous equation with consideration of the ball screw table. A practical integral action and robust action are included in the controller design for compensating the disturbance and eliminate the steady state error. Experimental results show that the proposed controller is able to tracking reference model output signal and maintain stead-state error. Model reference robust backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error.