# A Newton-like algorithm for L2-gain optimal control of an electro-hydraulic servo-system

Milić, Vladimir and Kasać, Josip and Šitum, Željko (2014) A Newton-like algorithm for L2-gain optimal control of an electro-hydraulic servo-system. = A Newton-like algorithm for L2-gain optimal control of an electro-hydraulic servo-system. In: 22nd Mediterranean Conference on Control and Automation, MED 2014, 16-19.06.2014., Palermo, Italy.

 Text Šitum, Željko_A Newton-like algorithm for L2-gain optimal control of an electro-hydraulic servo-system.pdf - Published Version Restricted to IP adress Jezik dokumenta:English Download (734kB)
Official URL: https://doi.org/10.1109/MED.2014.6961434

## Abstract

This paper is concerned with L2-gain optimal control approach for rotary electro-hydraulic servo-system. The electro-hydraulic dynamics with respect to hydraulic motor velocity, with input voltage to the servo valve as control input and load torque as disturbance input, is formulated. The mathematical model results in input-affine nonlinear system. A numerical algorithm based on Newton method to solve a finite-horizon minimax problem for L2-gain minimisation of electro-hydraulic system is presented. The feedback control and disturbance variables are formulated as linear combination of approximation functions. The proposed algorithm, which has recursive matrix structure, directly finds approximations of the feedback control and the 'worst case' disturbance variables. Developed controller has been tested experimentally in the laboratory model of an electro-hydraulic servo system.

Item Type: Conference or Workshop Item (Lecture) approximation algorithms; feedback control; hydraulic equipment; hydraulic motors; mathematical models; Newton-Raphson method; numerical methods; optimization; pneumatic control equipment; approximation function; disturbance variables; electro hydraulic servo system; electro-hydraulic system; electrohydraulic servos; linear combinations; Newton-like algorithm; numerical algorithms; hydraulic servomechanisms TECHNICAL SCIENCE > Mechanical Engineering 900 Department of Robotics and Production System Automation > 910 Chair of Engineering Automation Yes No 0 (14.09.2018.) 28 May 2015 10:03 13 Nov 2018 16:37 http://repozitorij.fsb.hr/id/eprint/4252