Modeling and H∞ PID Plus Feedforward Controller Design for an Electrohydraulic Actuator System
This work studies the modeling and design of a proportional-integral-derivative (PID) plus feedforward controller for a high precision electrohydraulic actuator (EHA) system. The high precision positioning EHA system is capable of achieving a very high accuracy positioning performance. Many sophisticated control schemes have been developed to address these problems. However, in industrial applications, PID control is still the most popular control strategy used. Therefore, the main objective of this work is to design a PID controller for the EHA system, improving its performance while maintaining and enjoying the simple structure of the PID controller. An extra feedforward term is introduced into the PID controller to compensate for the tracking error especially during the transient period. The PID plus feedforward control design is augmented into a static output feedback (SOF) control design problem and the SOF controller is designed by solving an H ∞ optimization problem with bilinear matrix inequalities (BMIs).
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