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This document summarizes research on developing an H1 positional feedback controller to improve robust performance for a 2-degree of freedom (DOF) robotic arm driven by an electro-hydraulic servo system (EHSS) under structural and parametric uncertainty. It first introduces the experimental setup, which includes hydraulic components like cylinders, valves, and a pump, and mechanical components forming a 2-DOF robotic arm. It then describes the dynamic model of the EHSS and identifies typical parametric and

Author

Eddy Pachecca

Language

EN