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Modeling and identification of an Electro-Hydraulic Actuator

In this work, a physical non-linear model of an Electro-Hydraulic Actuator has been developed. Each system component (valves, pipes, cylinders) and their interactions have been modeled by means of conservation and constitutive laws. The actuator dynamics, with lumped-parameter element models, have been treated accurately, with special attention given to modeling friction. Finally, a global parametric-identification procedure has been performed for all unknown parameters. Throughout this paper all the modeling assumptions and results from system identification are verified with experimental data.