RobustPosition Control foraPneumatic Cylinder

Themaincontribution ofthispaperisarobust andprecise position control methodbasedonsliding mode forapneumatic cylinder. Thecontroller isimplemented on aDSP system. Themainchallenge isthehigher accuracy than10,um,whichcanbeensured withwiderangeof variation oftheload(disturbance) andpressure intheentire operation area. Thepaperdescribes thenonlinear modelof thepneumatic cylinder andthethreemaindesign steps of theproposed control method, namelysliding surface design, control lawselection andchattering freeimplementation. Finally, itpresents experimental results.