This paper addresses digital control design and implementation for an electrohydraulic servo actuator used in electronic cam motion generation. The actuator dynamics, due to a broad range of motion trajectories, have different degrees of nonlinearity and are represented by a number of linear models with associated bounds of unmodeled dynamics. For each specified range of motion trajectories, a robust performance controller corresponding to the particular linear model is designed to ensure consistent performance under the effect of nonlinear dynamics in the range. A repetitive controller and a feedforward controller are added as plug-ins to the robust performance feedback controller. Experimental results are given to demonstrate the effectiveness of the digital motion control synthesis.
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