Robust Control of Pneumatic Clutch Actuators using Simulated Annealing Techniques

The position control problem of an electro pneumatic clutch actuator is formulated as a robust asymptotic tracking control problem. To solve the problem the Internal Model Principle is appropriately modified to a Hurwitz invariability problem solved through a constructive robust stability algorithm which is numerically integrated via a Simulated Annealing Algorithm. The problem is proven to be always solvable and the controller parameters providing a suboptimal solution are computed. Simulation results for the nonlinear model of the actuator and for all the expected range of model and load uncertainties illustrate the satisfactory control.