Identification and real-time position control of a servo-hydraulic rotary actuator by means of a neurobiologically motivated algorithm

► A modified version of a BELBIC has been presented. ► The introduced method has been implemented on an EHS system for the first time. ► A convenient dynamic model has been extracted, and identification is performed. ► The presented algorithm is compared to three other methods: PID, ATFPIC, and NNPC. ► Experimental results indicate better control action with less energy consumption.