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In industry, some unexpected or unpredicted effects make difficult to apply certain control techniques which show good performances in laboratory. In this paper, we introduce two new control methods, called the model-free control and the control with restricted model [1–3], in the case of position tracking of an electro-hydraulic test rig. For an industrial point of view, these methods present many advantages as they are closed to the classic PID control and do not required an intensive modelling work. However, an accurate differentiation of the output has to be done on-line at high sampling frequency in order to estimate accurately the evolution of the state function. Experiments are conducted to estimate the sensibility of these control strategies to the system parameter perturbations. The results illustrate that the proposed controls have a good robustness performance, and that the tracking performance is sensitive to the velocity estimation precision.

Robustness Study on the Model-Free Control and the Control with Restricted Model of a High Performance Electro-Hydraulic System