{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T20:36:56Z","timestamp":1777927016212,"version":"3.51.4"},"reference-count":23,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2015,1,6]],"date-time":"2015-01-06T00:00:00Z","timestamp":1420502400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2015,4]]},"abstract":"<jats:p>Actuator force control in servo-hydraulic systems has numerous applications in machinery and industrial settings. The prevalent hydraulic configuration for force control utilizes a proportional directional control valve to properly route the supplied hydraulic fluid toward the chambers of the actuator. It is well known that this configuration imposes certain physical limitations on force-tracking performance. In this article, a different configuration is utilized to improve the hydraulic force control performance. This is done by replacing the proportional directional control valve with a proportional double-stage relief valve. It is shown that this new setting is superior in its achievable force-tracking performance. This comes at the cost of a more challenging control problem compared to the proportional directional control valve case, due to the presence of un-modeled dynamics and unknown parameters. A robust [Formula: see text] control approach has been followed as the main solution to address uncertainty problems. However, conservative robust design imposes its own limitations on force-tracking performance. To address this issue, a combination of additional switched-proportional\u2013integral\u2013derivative and Prandtl\u2013Ishlinskii hysteresis compensation control loops is proposed. Conditions are derived under which the additional loops improve the performance of the robust [Formula: see text] controller. The effectiveness of the proposed configuration and control method is demonstrated by the experimental results.<\/jats:p>","DOI":"10.1177\/0959651814564480","type":"journal-article","created":{"date-parts":[[2015,1,7]],"date-time":"2015-01-07T20:53:10Z","timestamp":1420663990000},"page":"308-318","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Robust hydraulic actuator force control through relief discharge"],"prefix":"10.1177","volume":"229","author":[{"given":"Reza","family":"Nourizadeh","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Islamic Republic of Iran"}]},{"given":"S Mehdi","family":"Rezaei","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Islamic Republic of Iran"}]},{"given":"Mohammad","family":"Zareinejad","sequence":"additional","affiliation":[{"name":"New Technologies Research Center, Amirkabir University of Technology, Tehran, Islamic Republic of Iran"}]},{"given":"Keivan","family":"Baghestan","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Islamic Republic of Iran"}]},{"given":"Ali","family":"Tivay","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Islamic Republic of Iran"}]},{"given":"Mozafar","family":"Saadat","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Birmingham, Birmingham, UK"}]}],"member":"179","published-online":{"date-parts":[[2015,1,6]]},"reference":[{"key":"bibr1-0959651814564480","volume-title":"Association BFP. 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