Pneumatic servo actuators are characterized by highly nonlinear dynamics from spool valve command to cylinder pressure and, as such, are well suited to the use of nonlinear control methods requiring measurement of the full state, such as sliding mode control. This paper investigates the possibility of eliminating the pressure measurement required for nonlinear control in lieu of a nonlinear pressure observer, based on measurement of the output motion. A nonlinear observability analysis is conducted that demonstrates that such a system loses local observability in several regions of the state space, thus rendering the system unobservable.
On the Observability of Pressure in a Pneumatic Servo Actuator
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publicaton in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division July 14, 2003; final revision, December 4, 2003. Review conducted by N. Manring.
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Wu, , J., Goldfarb, and , M., and Barth , E. (March 11, 2005). "On the Observability of Pressure in a Pneumatic Servo Actuator ." ASME. J. Dyn. Sys., Meas., Control. December 2004; 126(4): 921–924. https://doi.org/10.1115/1.1850530
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