Robust adaptive PID control of electro-hydraulic servo load system

For the electro-hydraulic servo load system, a robust adaptive PID controller was proposed. The controller realized the asymptotic tracking of the desired output trajectory, which used the PID controller as closed-loop controller and used the CMAC neural network to approximate the nonlinear and uncertainties. The stability proof of the closed-loop controller was also presented. The simulation and experiment results indicate that the hybrid controller has the higher loading spectrum tracking accuracy and stronger robustness.