Among the pneumatic systems applied in industry, there are many joint-type pneumatic systems whose moment of inertia and gravity torque vary according to the angle displacement. It is more difficult to control such a system than to control a translational one. In this paper the author tried a method called self-tuning pole allocation, which can adjust its controller according to the variation of the system's parameters. in single-joint pneumatic system controlled by E/P proportional pressure valve, and got some good results.
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