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Mathematical Problems in Engineering
Volume 2013, Article ID 451312, 10 pages
Research Article

Design of PI Controllers for Hydraulic Control Systems

Faculty of Mechanical Engineering Kraljevo, University of Kragujevac, Dositejeva 19, 36 000 Kraljevo, Serbia

Received 7 December 2012; Accepted 14 February 2013

Academic Editor: Zoran Gajic

Copyright © 2013 LJubiša Dubonjić 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.


The paper proposes a procedure for design of PI controllers for hydraulic systems with long transmission lines which are described by models of high order. Design is based on the combination of the IE criterion and engineering specifications (settling time and relative stability) as well as on the application of D-decomposition. In comparison with some known results, the method is of graphical character, and it is very simple (solving nonlinear algebraic equations is eliminated). The paper presents the algorithm of software procedure for design of the controller. The method is compared with other methods at the level of simulation, and its superiority is shown. By applying the Nyquist criterion, it is shown that the method possesses robustness in relation to non modelled dynamics.