Modeling and bumpless learning control of position and pressure for an electropneumatic actuator

Han Wee Ng, Andrew Alleyne

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents the modeling, simulation and control of a pneumatic cylinder actuator driven by a high-performance pneumatic servovalve. The modeling is done via a combination of first principles and empirically identified system characteristics. A stick-slip friction model is incorporated as a necessary component of the overall system description. The model is verified against experimental data and shown to be quite accurate over a range of operating conditions. Two separate Iterative Learning Controllers (ILC's) are applied to the system to improve the overall sequential tracking of position and pressure reference inputs. In addition, a bumpless transfer technique is used to transition between the position and pressure control loops in a smooth manner. The profiles chosen are similar to those found in certain manufacturing processes such as blow molding. It is show via simulation and experiment that the ILC can provide an improvement in the system tracking capabilities and the bumpless transfer can be used very effectively to minimize transients in the changeover from position to pressure.

Original languageEnglish (US)
Title of host publicationFluid Power Systems and Technology
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages8
ISBN (Electronic)9780791819210
StatePublished - 2000
Externally publishedYes
EventASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000 - Orlando, United States
Duration: Nov 5 2000Nov 10 2000

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)


ConferenceASME 2000 International Mechanical Engineering Congress and Exposition, IMECE 2000
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Mechanical Engineering

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