How to improve the position tracking accuracy of electro-hydraulic servo system is a hot issue today. Full state feedback control has received widespread attention for its ability to significantly improve control performance, however, its practical application range is limited in view of the large influence of measurement noise. In terms of this issue, we propose an adaptive robust controller based on improved structure and desired compensation. Firstly, to reduce the impact of measurement noise, the actual state value is substituted by the corresponding desired value in the controller design based on model compensation and the adaptive model compensator. Then, we introduce a new auxiliary variable into the controller to optimize its structure. In addition, nonlinear robust control laws are integrated in the controller to balance unstructured uncertainties. Simulation analysis shows that the proposed control strategy not only achieves the asymptotic tracking when parameter perturbation exists, but also ensures a specified transient response and final tracing precision under the combined influence of structured and unstructured uncertainties. The results indicate that the control strategy has good control accuracy as well as strong robustness.
[CoPt 1.5 ml/ZrO2 xnm]10 multilayer films were deposited on glass substrates by magnetron sputtering and then annealed in vacuum at 600℃ for 30 min. Their structures and magnetic properties were investigated as a function of ZrO2 content. The results show that the grain size and coercivity first increase and then decrease with the increase in ZrO2 content. The maximum coercivity and grain size are obtained at 37 vol.% of ZrO2. The content of ZrO2 in the film plays an important role in the separation of CoPt grains and in the reduction of intergrain exchange interaction. On the basis of the studies of angular dependent coercivity, it is found that the magnetization reversal of CoPt films with (111 ) texture is different from either the domain wall motion or the S-W type of rotation mode. 相似文献