Abstract
Considering the complex nonlinearities of valve-controlled asymmetrical cylinder, a more accurate nonlinear state-space model is established. Then, states feedback linearization technique is introduced to linearize the model exactly and the stability of inner subsystem is analysised by zero dynamics method with the specific system parameters. Based on the linearized model, optimal control theory is applied to design a nonlinear optimal tracking controller and confirmatory simulation experiments are carried out. The results reveal that, the controller is reasonable and effective, and shows splendid performance in tracking various inputs with a high level of robustness and strong abilities to keep undisturbed by load varying.
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