Robust adaptive control for hydraulic servosystems

Andrew R Plummer, N D Vaughan

Research output: Contribution to journalArticlepeer-review

140 Citations (SciVal)


The application of an indirect (self-tuning) adaptive controller to an electro-hydraulic positioning system is described. The underlying control method is pole placement, with the addition of a demand filter to allow noise effects to be reduced without degrading closed-loop performance. Recursive least squares is used to estimate the plant parameters, but the data is pre-filtered to reduce bias. A novel covariance trace limiting algorithm provides estimator reliability despite periods of insufficient excitation. Off-line system identification is employed to help controller design for the electro-hydraulic servosystem. The resulting controller performs well, and adapts rapidly to changes in load stiffness and supply pressure.
Original languageEnglish
Pages (from-to)237-244
Number of pages8
JournalJournal of Dynamic Systems, Measurement and Control: Transactions of the ASME
Issue number2
Publication statusPublished - Jun 1996


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