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On the basis of electro-hydraulic position servo system(EHPSS) with asymmetry cylinder and asymmetry valve, an unified nonlinear system model was provided to represent the actual system. Then a nonlinear PI predictive control (NPIPC) approach with nonlinear disturbance observing was put forward and was applied to a guide alignment EHPSS of high-speed elevator. Simulation and actual control results...
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