| This study presents the nonlinear design of a state space controller to control hydraulic actuators under displacement control, specifically for real-time pseudo-dynamic testing applications. The proposed control design process uses the nonlinear state space model of the dynamics of the system to be controlled; and utilizes state feedback linearization through a transformation of the state variables. Comparisons of numerical simulation results for linear state-space and nonlinear state-space controllers are given. Also robustness of the control design with respect to identified parameters is investigated. It is shown that a controller with improved performance can be designed using nonlinear state space control design techniques, provided that a representative model of the system is available. |
