Tracking Control of an Electro-Hydraulic Actuator System using LQR Controller

Electro-Hydraulic actuator (EHA) is a one type of application used in industry and building high performance motion control process. Apparently, dealing with EHA behaviour quite difficult make the controlling process complicated. Designing Linear Quadratic Regulator (LQR) controller as feedback require selecting weighting parameter Q R. The result shows that higher value offers fast response stability by referring placement close-loop poles. However, gives error can position hydraulic become worst. In order to overcome this problem, feedforward developed implementing zero-phase tracking (ZPETC). It both good reducing gain phase error.