Observer-Based Time-Delay Control of a Four-Cylinder Electrohydraulic Servosystem : Controller Design

Abstract

Synchronizing control of a four-cylinder electrohydraulic servosystem is considered in this paper. For simplification of design, the system is separated into four subsystems, which track the same output signal of a reference model. The interaction forces among the four cylinders are considered as disturbance forces and the time delay control scheme is used here to estimate the disturbance force and and unknown system dynamics. For reducing the sensor noise controller design, the observed state variables are used in place of the numerical differentiated ones. The feasibility of the proposed control strategies is verified via experimental studies in this paper and the stability of this closed-loop system is proved in Part II.