{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:52:29Z","timestamp":1767649949389,"version":"3.38.0"},"reference-count":23,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2016,8,20]],"date-time":"2016-08-20T00:00:00Z","timestamp":1471651200000},"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":[[2016,10]]},"abstract":"<jats:p> In this article, a practical method named feedback nonlinear robust control with disturbance compensation is proposed for a hydraulic system with matched and mismatched generalized uncertainties (e.g. parameter derivations, external disturbances, modeled errors and\/or unmodeled dynamics), in which a finite-time disturbance observer and a nonlinear robust controller are integrated together by backstepping method. The finite-time disturbance observer is used to estimate matched and mismatched generalized uncertainties. The design of the nonlinear robust controller is to make the closed-loop system stable. Not only the nonlinearities (e.g. nonlinear flow features of servo-valve) but also matched and mismatched generalized uncertainties are considered by the proposed controller. Furthermore, asymptotic output tracking performance after a time T<jats:sub>0<\/jats:sub> is theoretically ensured by the proposed controller. The high-performance nature of the proposed control strategy is verified by extensive comparative experimental results. <\/jats:p>","DOI":"10.1177\/0959651816661450","type":"journal-article","created":{"date-parts":[[2016,8,20]],"date-time":"2016-08-20T01:30:43Z","timestamp":1471656643000},"page":"978-987","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":17,"title":["Feedback nonlinear robust control for hydraulic system with disturbance compensation"],"prefix":"10.1177","volume":"230","author":[{"given":"Zhangbao","family":"Xu","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, P.R. China"}]},{"given":"Dawei","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, P.R. China"}]},{"given":"Jianyong","family":"Yao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, P.R. China"}]},{"given":"Nasim","family":"Ullah","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, City University of Science and Information Technology, Peshawar, Pakistan"}]}],"member":"179","published-online":{"date-parts":[[2016,8,20]]},"reference":[{"volume-title":"Hydraulic control systems","year":"1967","author":"Merritt HE","key":"bibr1-0959651816661450"},{"key":"bibr2-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2252360"},{"key":"bibr3-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1109\/3516.828592"},{"volume-title":"Fluid power systems","year":"1989","author":"Whatton J","key":"bibr4-0959651816661450"},{"key":"bibr5-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1109\/41.184833"},{"key":"bibr6-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2015.10.013"},{"key":"bibr7-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2015.09.014"},{"key":"bibr8-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2013.2265312"},{"key":"bibr9-0959651816661450","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2092785"},{"key":"bibr10-0959651816661450","doi-asserted-by":"crossref","unstructured":"Guo Q, Sun P, Yin JM, Parametric adaptive estimation and backstepping control of electro-hydraulic actuator with decayed memory filter. 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