Design of Optimal Robust PI Controller for Electro-Hydraulic Servo System

This paper proposes a new technique to design an optimal robust PI-controller for electro-hydraulic servo system to achieve both the robustness and performance. Comparative study between the conventional robust control and the proposed technique is included in the paper. Particle Swarm Optimization (PSO) is adopted to simplify the solving of structured robust control problem to realize the practical robust controller. Simulation results show that the proposed controller has simpler structure than that of the conventional robust loop shaping controller, and the stability margin obtained indicates the robustness of the proposed controller. Simulation and experimental results verify the effectiveness of the proposed algorithm.