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
JournalAmerican Society of Mechanical Engineers (Paper)
Publication statusPublished - 1 Dec 1990
EventProceedings of the Winter Annual Meeting - Dallas, TX, USA
Duration: 25 Nov 199030 Nov 1990

ASJC Scopus subject areas

  • Mechanical Engineering


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