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

Author(s)
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
Abstract
The paper presents the mixed sensitivity Hoo 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 Hoocontroller is designed using MIXSYN tool in MATLAB. The nonlinear model of EHSS is first linearized into 2nd order LTI (Linear Time Invariant) model and Ha> 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.
Publication Details
Page(s) 61-66
DOI DOI not available
Published Journal: New Horizons: Journal of the Institution of Electrical & Electronics Engineers Pakistan, Volume: 101, Issue: 1,2, Year: 2019

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Keywords
LinearTime Invariant, Weighting Function, Electro-Hydraulic Servo System, HooController.
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