A combined controller (CT-PBC) by contact task control (CTC) with passivity based controller (PBC) is introduced to control test system of high capacity hydraulic pump (HCHP) to measure its properties. It is compared with a vector controller; a torque feedback based combined controller, and two neural network controllers. The results gained from comparing and analyzing these controllers show that under different outlet pressures of HCHP, CT-PBC has good stability and robustness, which meet the requirements to test HCHP. CT-PBC is also simpler and better than other controllers in general.
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