On-line Self-tuning Control of Hydraulic Positioning Servo System

A new implicit recursive pole placement self-tuning control algorithm is proposed here for adaptive control of electrohydraulic positioning servo system. Compared with other algorithm, the method with its simple form is suitable for nonminimum phase systems and has less recursive computational work. Digital simulation and experiment results illustrate that the electrohydraulic positioning servo system controlled by the method has very good dynamic performance and adaptive property, that the usual difficulties, because of using adaptive control in electrohydraulic positioning servo system, such as fast dynamics, time-varing parameters, nonminimum phase and more computational time of on-line recursive identification caused by the high order and more parameters of the system are solved as a results of using the algorithm. Several possibilities for improving the processing speed have been discussed.