Robust force controller design for an electrohydraulic actuator based on nonlinear model
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper documents the development and experimental evaluation of a hydraulic force controller, using nonlinear quantitative feedback theory (QFT) design method. A complete nonlinear mathematical model of a hydraulic actuator interacting with an environment is used to design the controller. Uncertainties are included in the model by considering the environmental stiffness and pump pressure as unknown parameters. The Golubev method is applied to derive a family of rational linear time-invariant transfer functions, which is precisely equivalent to the nonlinear plant within the system's operating range. A robust low-order controller is designed to satisfy a priori specified tracking and stability performances. The designed controller is implemented on an industrial hydraulic actuator equipped with a low-cost proportional valve. In spite of significant actuator dynamics and under varying conditions, successful control tests are performed repetitively.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it