Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Table 4

Comparison of the performance of optimal PID, optimal antiwindup PID, and adaptive antiwindup PID sliding mode control systems without load disturbance.

Performance	Reference	Optimal PID	Optimal antiwindup PID	Adaptive antiwindup PID sliding mode
Overshoot	10 mm	38.9%	20.8%	1.0%
	20 mm	16.1%	13.3%	0.5%
	30 mm	14.7%	11.9%	0.2%
	40 mm	12.2%	8.2%	0.1%
Settling time	10 mm	1.78 sec	2.2 sec	0.6 sec
	20 mm	0.56 sec	2.2 sec	0.6 sec
	30 mm	0.58 sec	0.63 sec	0.7 sec
	40 mm	0.69 sec	2.6 sec	0.7 sec