Comparative study of Robust Control for a Water Hydraulic Servo Motor System

(3rd report : Adaptive Control Design Approach and Summarize Results)

Abstract

In previous two reports, the H_∞ controller, the disturbance-observer-type controller and the sliding mode controller for rotational angle and velocity control were examined. In this paper as the final report, a model reference adaptive control (MRAC) was applied to a water hydraulic servo motor system. The MRAC system can admit parameter uncertainties by tuning the controller parameters depending on the error between a plant output and the reference signal given by the designer. Moreover in this paper, all control results were compared on the steady state error, the percent overshoot and the settling time as performance indices.