Robust control of water hydraulic servo motor system using sliding mode control with disturbance observer

Kazuhisa Ito, Hidekazu Takahashi, Shigeru Ikeo, Koji Takahashi

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

13 Citations (Scopus)


With the recent increased concerns for global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic and pneumatic drive systems. However, the main problems for precise control in a water hydraulic servo motor system are steady state errors and overshoot due to its large friction torque in the low velocity range of a motor. In this research, the sliding mode control combined with the disturbance observer is applied to control the rotational angle of a water hydraulic servo motor. We examined the rotational angle control performances with these methods for load fluctuations.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages4
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Disturbance observer
  • Rotational angle control
  • Servo motor system
  • Sliding mode control
  • Water hydraulics

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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