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Robustness analysis of GA-PID and H∞, Embedded Control for Load-Sensing Electro-hydraulic Servo System

The article presents the robust stability and robust performance study of embedded systems for control of load-sensing electro-hydraulic servo system for steering application. The regarded control systems are based on H∞controller and genetic algorithm (GA) tuned PID controller. In a previous investigation, the authors synthesized and realized both embedded controllers. The main contribution of this paper is the performed robustness analysis. It is based on the estimated two outputs single input (SIMO) uncertainty black box model. The systems' robustness investigations are done in accordance with the structure singular value framework that is a powerful tool from robust control theory. The results obtained by robustness analysis are validated via physical experiments with a developed laboratory test rig.