Nonlinear Dynamics

, Volume 67, Issue 4, pp 2585–2597 | Cite as

A model reference robust multiple-surfaces design for tracking control of radial pneumatic motion systems

  • Chia-Hua Lu
  • Yean-Ren Hwang
Original Paper


A robust model reference backstepping (multiple-surfaces) controller is proposed for radial pneumatic motor motion systems with variable inlet pressure and mismatched uncertainties (time-varying payload). A radial pneumatic motor is first modeled by a non-autonomous equation with consideration of a ball screw table. A practical integral action and robust action are included in the backstepping design to compensate for the disturbance, mismatched uncertainty, and to eliminate the steady state error. The motion system is proved to have asymptotically stable performance and the experimental results show that the proposed controller is able to track the reference model output signal and maintain steady-state error.


Radial pneumatic motor Model reference Backstepping control 


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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringNational Central UniversityChung-LiTaiwan
  2. 2.Department of Mechanical Engineering and the Institute of Opto-Mechatronics EngineeringNational Central UniversityChung-LiTaiwan

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