This paper describes a methodology to construct a linear model of a double pneumatic cylinder. The in and out airflow is regulated by two on/off solenoid valves. The proposed methodology simplifies the handling of the two on/off solenoid valves by using a nonlinear relation between the on/off times of the valves and a single continuous control input. This relation represents an open loop control that gives a linear input/output response with maximum speed, and with reduced dead-band. Numerical simulations are given in order to validate the proposed methodology.
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