Abstract
This paper presents the design and the experimental evaluation of a tracking control for a hydraulic actuation system in the presence of significant nonlinearities. The adopted control approach consists of a feedforward and a feedback term. The feedforward action is obtained from the known system dynamics and the feedback one is developed starting from the state-dependent Riccati equation (SDRE).The tracking performance of the presented control is demonstrated by means of both simulations and real-time experiments, solving the algebraic Riccati equation at each time step.
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