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In this paper, a controller design targeting the remotely operated hydraulic
drive system is presented. A two-degrees-of-freedom PID position controller is
used, which is designed so that to maximize the integral action under robust
constraint. A linearized model of the system plant, affected by the parameters
uncertainties such as variable communication time-delay and overall system
gain, is formulated and serves for the control design and analysis. The
performed control synthesis and evaluation are targeting the remote operation
where the wireless communication channel cannot secure a deterministic
real-time of the control loop. The provided analysis of uncertainties makes it
possible to ensure system stability under proper conditions. The theoretically
expected results are confirmed through laboratory experiments on the standard
industrial hydraulic components.
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