Robust velocity control of a water hydraulic servomotor system with parameter uncertainty

Kazuhisa Ito, Shigeru Ikeo

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

1 Citation (Scopus)


This paper deals with the rotational velocity control of a water hydraulic servomotor system. Water hydraulic servo system is an attractive technology for safety environment. Considering the parameter uncertainties, e.g. load fluctuation, friction parameters, parameter estimation error etc., the Lyapunov-based recursive method is applied to design a robust rotational velocity controller. The proposed controller ensures that the set to which state error approaches can be made arbitrary small by choosing the control gain. This is called the uniformly ultimate bounded stability. The effectiveness of the proposed controller is examined numerically.

Original languageEnglish
Title of host publicationProceedings of the SICE Annual Conference
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages6
ISBN (Print)0780383524
Publication statusPublished - 2003
Externally publishedYes
EventSICE 2003 Annual Conference, SICE 2003 - Fukui, Japan
Duration: 2003 Aug 42003 Aug 6


OtherSICE 2003 Annual Conference, SICE 2003


  • Lyapunov recursive design
  • Nonlinear system
  • Parameter uncertainty
  • Robust control
  • Velocity control
  • Water hydraulic servomotor

ASJC Scopus subject areas

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

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