Position Control of a Pulse Width Modulated Pneumatic Systems: an Experimental Comparison

Document Type: Original Article


1 K.N. Toosi University of Technology

2 Islamic Azad University Science and Research Branch


In this study, a new adaptive controller is proposed for position control of pneumatic systems. Difficulties associated with the mathematical model of the system in addition to the instability caused by Pulse Width Modulation (PWM) in the learning-based controllers using gradient descent, motivate the development of a new approach for PWM pneumatics. In this study, two modified Feedback Error Learning (FEL) methods are suggested and the their effectiveness are validated by experimental tracking data. The first one is a combination of PD (Proportional–Derivative) and RBF (Radial Basis Function) and in the second one RBF is replaced by ANFIS (Adaptive Neuro-Fuzzy Inference System). The robustness to varying mass is also examined. The experimental results show that the proposed algorithms, especially with ANFIS, are able to give good performance regardless of any uncertainties.


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