Adaptive position control of water hydraulic cylinder and its robustness

H. Takahashi, Kazuhisa Ito, S. Ikeo

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Water hydraulic servo system is an attractive system for its environmental safety. In this system, the problem for precise control is the uncertainties and/or the unmodeled dynamics which includes parameter variations depending on driving conditions and nonlinearity of system e.g. friction force, flow characteristics. In this paper, we discuss the control performance of adaptive position controller for water hydraulic servo cylinder comparing with PI controller. More specified, based on the general least square method as a parameter update law, adaptive tracking controller is constructed and its robustness for parameter change are evaluated. The experimental results show that the adaptive controller has certain robustness for parameter changes, e.g. supply pressure changes and load fluctuations comparing with PI controller.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
Number of pages5
Publication statusPublished - 2005
Externally publishedYes
EventSICE Annual Conference 2005 - Okayama
Duration: 2005 Aug 82005 Aug 10


OtherSICE Annual Conference 2005



  • Adaptive control
  • Cylinder
  • Position control
  • Servo valve
  • Water hydraulic system

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Takahashi, H., Ito, K., & Ikeo, S. (2005). Adaptive position control of water hydraulic cylinder and its robustness. In Proceedings of the SICE Annual Conference (pp. 2505-2509)