Discussion on: 'New Energy-Based Nonlinear Controller for Hydraulic Piston Actuators'

摘要

This paper reviews the control of a differential hydraulic servosystem that has previously been studied by other authors using more classical design methods, for example. The authors instead proposed to exploit the port-controlled Hamiltonian structure of the unforced system. They showed that two Casimir functions exist, and obtained a stabilizing controller for the forced system based on a so-derived energy-Casimir Lyapunov function.