A Robust Control Scheme for an Experimental Hydraulic System

In this paper, a robust proportional-integral-derivative (PID) controller is computed for adjusting the position of the piston rob of an experimental hydraulic servo actuator under different pressure operating conditions. Using position and pressure measurements, mathematical models of the hydraulic actuator are obtained through parameter identification techniques for different pressure operating conditions. The derived models are unified to an uncertain model. A dynamic PID controller is calculated using a robust stabilizability algorithm appropriately extended using parallel computing techniques. Many experiments were performed under various supply pressures. The experimental results show that the proposed PID controller can work properly under pressure variation.