Research Article

Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

Figure 13

Performances of optimal antiwindup PID position control system for EHA without load disturbance (only mass load is applied).
590708.fig.0013a
(a)   Step responses
590708.fig.0013b
(b) Position errors