Mixed Sensitivity H? Controller Design for Force Tracking Control of Electro-Hydraulic Servo System

Authors

  • Umair Javaid Department of Electrical Engineering, University of Engineering &Technology, Lahore, Pakistan
  • Syed Abdul Rahman Kashif Department of Electrical Engineering, University of Engineering &Technology, Lahore, Pakistan.
  • Ali Ahmad Department of Electrical Engineering, University of Central Punjab, Lahore, Pakistan.
  • Noor-Ul-Ain Department of Electrical Engineering, University of Engineering &Technology, Lahore, Pakistan.
  • Salman Fakhar Department of Electrical Engineering, University of Engineering &Technology, Lahore, Pakistan.

Keywords:

Electro-Hydraulic Servo System, Linear Time Invariant, Weighting Function, H? Controller.

Abstract

The paper presents the mixed sensitivity H¥ controller design for force tracking control of EHSS (Electro-Hydraulic Servo System). The system is inherently nonlinear and includes hard non linearity like relationship between pressure and flow rate that effect system dynamics and deteriorate the nominal behavior of the system. To cope with such nonlinear function and improve the system performances, a mixed sensitivity H¥ controller is designed using MIXSYN tool in MATLAB. The nonlinear model of EHSS is first linearized into 2nd order LTI (Linear Time Invariant) model and H¥ controller is designed. The weighting filters are included to improve the performance of system. The MATLAB function MAGSHAPE is used to tune the weight functions so that desirable gain and phase margin could be achieved. Simulation results on linear and nonlinear system show the better force tracking as compared to other robust control techniques. The proposed technique is found robust in the presence of disturbance.

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Published

2019-12-31

How to Cite

[1]
Umair Javaid, Syed Abdul Rahman Kashif, Ali Ahmad, Noor-Ul-Ain, and Salman Fakhar, “Mixed Sensitivity H? Controller Design for Force Tracking Control of Electro-Hydraulic Servo System”, INHRJ, vol. 101, no. 1, pp. 61–66, Dec. 2019.

Issue

Vol No 101, No 1-2 IEEEP NEW HORIZONS JOURNAL Jan-Dec, 2019

Section

Articles