Abstract
This paper presents a nonlinear control concept of a spacial multi axis servohydraulic test facility. Based on nonlinear model equations including the servohydraulic actuator dynamics and the test table and payload mechanics, a global nonlinear diffeomorphism is derived which maps the model equations into nonlinear canonical form. Using symbolic languages, a nonlinear control law is developped and calculated based on exact linearization techniques. The efficiency and applicability of this control concept with respect to the tracking and decoupling behaviour of the test facility is demonstrated by computer simulations.
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