Table 1
Nominal equivalent parameters of the considered hydraulic system.
 Symbol 
Parameter  Nominal value 
  The total mass of the load  40 kg   The ram area of the cylinder  m^{2}   The ram area of the cylinder  m^{2}   The coefficient of the viscous friction  45 N·s/m   The Coulomb friction  52 N   The stiction friction  78 N   The Stribeck velocity  0.013 m/s   The empirical parameter of the Stribeck effect  2   The bulk modulus of the oil in the cylinder  200 Mpa   The original total control volume of the cylinder  m^{3}   The original total control volume of the cylinder  m^{3}   The normal coefficient of the internal leakage  m^{5}/Ns   The flow gain of the servovalve  m^{4}/(s·A·)   The supply pressure  7 Mpa   The return pressure  0 Mpa   The servovalve natural frequency  628 rad/s   The servovalve damping ratio  0.7   The gain of the servovalve  A/V 

