Optimum robust control of nonlinear hydraulic servo system

This paper concerns the design of robust and high precision performance controller. Optimum fuzzy PID controller is developed with the aim to achieve high performance and to reduce tracking errors. Mathematical model is developed that includes a dynamic friction model to accounts for main nonlinearities. To acquire the global optimal state proposed controller is optimized by using genetic algorithm. Effectiveness and robustness of the proposed controller are compared with PID and fuzzy control. Extensive simulation results verify optimum fuzzy PID method is fabulous with high effectiveness, robustness and good performance under parametric uncertainties, unknown modeling error and external disturbances.