This paper is concerned with the practical application of self-tuning control to an electrohydraulic cylinder drive. The experimental drive studied had a dominant natural frequency of 19 Hz and consequently to achieve the fast sampling rate a novel method of controller implementation is required. Estimates of the model parameters are obtained by a square root filter and controller synthesis is achieved by a pole-assignment algorithm. The results presented were generated by an experimental rig under the control of a DEC LSI 11/23 microprocessor.

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