Control design for relative stability in a PWM-controlled pneumatic system

This paper presents a control design methodology that provides a prescribed degree of stability robustness for plants characterized by discontinuous (i.e., switching) dynamics. The proposed control methodology transforms a discontinuous switching model into a linear continuous equivalent model, so that loop-shaping methods may be utilized to provide a prescribed degree of stability robustness. The approach is specifically targeted at pneumatically actuated servo systems that are controlled by solenoid valves and do not incorporate pressure sensors. Experimental demonstration of the approach validates model equivalence and demonstrates good tracking performance.