Comparing Constrained Controllers for Nonlinear Hydraulic Plant Using Matlab Interface*

Controller design for hydraulic plants represents a task carried out frequently to demonstrate and compare properties of different nonlinear control approaches. The developed application demonstrates by simulation impact of several degrees of freedom in design of nonlinear model based methods: performance achievable by the dynamical feedforward, influence of different control constraints, of the parameter uncertainty, and of the closed loop dead time. The application can run locally as a simulation tool designed in Matlab/Simulink but also through the Internet as a virtual laboratory. Both approaches are described in the paper.