Trajectory Tracking Control of A Pneumatic Cylinder Using An Input-Output Linearization Method

입.출력 선형화 기법을 이용한 공기압 실린더의 궤적추적 제어

This study suggests a trajectory tracking controller composed of an input output linearization compensator and a linear controller. The input output linearization compensator is derived from the nonlinear equations of a pneumatic control system and it algebraically transforms a nonlinear system dynamics into a linear one, so that input output characteristics of the control system is linearized regardless of the variation of the operating point and linear control techniques can be applied. The results of nonlinear simulations show that the proposed controller tracks the given trajectories more accurately than a state feedback controller does.