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Journal of Control Science and Engineering
Volume 2012 (2012), Article ID 670635, 8 pages
Research Article

Simulation and Experimental Studies on Perfect Tracking Optimal Control of an Electrohydraulic Actuator System

1Department of Mechatronic and Robotic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, 86400 Johor, Malaysia
2Department of Control and Instrumentation Engineering, Faculty of Electrical Engineering, Universiti Teknologi Malaysia, Skudai, 81310 Johor, Malaysia

Received 30 April 2011; Revised 12 October 2011; Accepted 29 October 2011

Academic Editor: Mohamed Zribi

Copyright © 2012 R. Ghazali et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a perfect tracking optimal control for discrete-time nonminimum phase of electrohydraulic actuator (EHA) system by adopting a combination of feedback and feedforward controller. A linear-quadratic regulator (LQR) is firstly designed as a feedback controller, and a feedforward controller is then proposed to eliminate the phase error emerged by the LQR controller during the tracking control. The feedforward controller is developed by implementing the zero phase error tracking control (ZPETC) technique in which the main difficulty arises from the nonminimum phase system with no stable inverse. Subsequently, the proposed controller is performed in simulation and experimental studies where the EHA system is represented in discrete-time model that has been obtained using system identification technique. It also shows that the controller offers better performance as compared to conventional PID controller in reducing phase and gain error that typically occurred in positioning or tracking systems.