Adaptive control of a servohydraulic system with anti-windup, anti-ratcheting protection

This paper describes the use of a heuristic method to constrain the growth of gains in an adaptive MCS controller, which would otherwise be apparent under certain test conditions. The application and implementation of the method is given within the context of force control of a servohydraulic test rig. Experimental results show that the performance of the constraint method matches the requirements.