Modelling study, analysis and robust servocontrol of pneumatic cylinder actuator systems

A modelling study on pneumatic cylinder actuator systems is carried out based on the standard orifice theory. The pneumatic cylinder actuators are modelled as a cascade connection of two nonlinear subsystems affine in the control input. The model validation has been conducted by comparing open-loop system dynamical responses obtained through simulation and experiments. Finally, a class of robust servocontrol strategy is proposed, which guarantees the profile following precision. An example is included to demonstrate the servocontrol design procedure.