Position control of an electrohydraulic rotary drive using frequency domain methods

This paper presents a novel approach to the position control of variable displacement hydraulic motors (VDHMs) operated at a constant pressure net (also referred to as "secondary" position control). To improve the state of the art in terms of static and dynamic performance, a robust high bandwidth control system with a new structure is developed. Although highly nonlinear phenomena like saturation and static friction occur, linear frequency domain methods are used successfully in order to meet demanding specifications.